Implement streaming cartesian commands, create AmorCartesianControl #117
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reinterpret_cast cannot cast away cv qualifiers (asBlob() returns a const char*).
Named pretty much after the same xCallbackPort's command at asibot-main.
This is actually taken care of by 'interruptModule'. Previously, a CTRL+C rendered the terminal useless and never actually killed the process.
Avoid tiny values like 1.23456789e-16.
Makes sense for position-based device controllers (like the LeapMotion).
Per http://docs.ros.org/latest/api/orocos_kdl/html/geomprim.html 3 different types of transformations do exist for the twists and wrenches. * 1) Frame * Twist or Frame * Wrench : * this transforms both the velocity/force reference point * and the basis to which the twist/wrench are expressed. * 2) Rotation * Twist or Rotation * Wrench : * this transforms the basis to which the twist/wrench are * expressed, but leaves the reference point intact. * 3) Twist.RefPoint(v_base_AB) or Wrench.RefPoint(v_base_AB) * this transforms only the reference point. v is expressed * in the same base as the twist/wrench and points from the * old reference point to the new reference point. Previously, pure rotations resulted in applying an additional translation to the TCP. That is, the reference point was being altered. See also sect. 4.2.3 "Transformation of twist coordinates" in: Herman Bruyninckx, "Robot Kinematics and Dynamics", Katholieke Universiteit Leuven, Department of Mechanical Engineering (Leuven, Belgium), 2010.
12 tasks
jgvictores
approved these changes
Oct 27, 2017
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Mostly aimed at solving #105. Notable changes:
ICartesianControl.AmorCartesianControlimplementation ofroboticslab::ICartesianControlfor commanding the AMOR manipulator in the task space via official API.KinRepresentation::encodeVelocityandKinRepresentation::decodeVelocity.KinRepresentation::parseEnumerator.ICartesianSolver::diffInvKinEEmethod for handling streaming commands with respect to the tool frame.