Finalized cob_cartesian_controller #74
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…tor_profile_generator
…b_control into test_new_cartesian_controller Conflicts: cob_frame_tracker/src/cob_frame_tracker.cpp
| { | ||
| double tb, te, tv; | ||
| unsigned int steps_tb, steps_te, steps_tv; | ||
| bool ok; |
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could we get rid of this?
E.g. by letting the according getProfileTimings function return a bool instead of a ProfileTimings struct. The struct should then be passed to the function as a reference parameter (also see my comment below https://github.com/ipa320/cob_control/pull/74/files#r47380086)
| double vel_max = params_.profile.vel; | ||
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| // Calculate the Profile Timings | ||
| pt = getProfileTimings(pa.Se_, pt_max_.te, accl_max, vel_max, false); |
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see according comments in "ramp"
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Just another browser review... |
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In my updated branch, I considered all styling/restructure comments I made here three days ago...simply Beside the styling, I significantly reduced unused/obsolete variables/functions, simplified function parameters by using structs/member variables, remove code duplicates....have a look at my commit history to see the steps... I tested it in simulation with schunk_lwa4d...the behavior of lwa4d_circle.py is as expected, i.e. the same as without my changes 😉 @ipa-fxm-cm, could you review my additional changes and test again? To finalize this PR, could you have a look at these comments of mine and try them out?
Finally, after the tests, the lwa4d scripts should be removed from cob_control and added to the schunk_lwa4d package directly (Please |
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Closes #52 (after the changes from my |
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Do not merge yet....branches are messed up....I'm trying to fix it as soon as @ipa-fxm-cm has made me Collaborator to his repo... |
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I pushed my branch Can be merged! |
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Merging now in order to go on with this... |
Finalized cob_cartesian_controller
I finalized the cob_cartesian_controller. There was a bug in the cob_frame_tracker which threw an transform exception which I also fixed in my latest commit.