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Continuous joint in URDF adds 2 elements to the configuration space #794
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For continuous joints, Pinocchio uses the complex representation of SO(2). The 2 elements are thus cos(theta), sin(theta). |
We use We also use @mkatliar I hope this answer will satisfy your curiosity. |
This was already the subject of a previous issue. You can find more info here: #777 |
I will close this issue. @mkatliar Feel free to open it again if needed. |
Thank you very much for your replies, now it is clear. Would it be possible to add this explanation somewhere in the docs? |
Sorry. I was too fast. We will add it in the doc very soon. |
@gabrielebndn Can you help me to structure the documentation of the Joint classes inside the Pinocchio doc? |
Example:
This code results in
model.nq == 2
and the assert fails. Changing joint type to "revolute" results inmodel.nq == 1
, as expected.According to http://wiki.ros.org/urdf/XML/joint,
Therefore I expect a continuous joint to add 1 element to the configuration space, the same way as a revolute joint would do.
This issue seems also to be related to this question: #735 (comment)
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