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Software
ArmarX
RobotAPI
Merge requests
!169
bugfix: platform position controller is turning into wrong direction
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Merged
bugfix: platform position controller is turning into wrong direction
fix/platform-rotation
into
master
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3
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1
Merged
Fabian Reister
requested to merge
fix/platform-rotation
into
master
3 years ago
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3
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Changes
Orientation PID controller with 'limitless' flag to clamp error to [-pi, pi]
Clamping incoming angles (target orientation and current orientation) to [-pi, pi]
Simplified implementation (removed the buggy/incorrect code)
Tests
Tested in simulation: from orientation -1.3 to 1.5
Edited
3 years ago
by
Fabian Reister
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Jun 11, 2021
avoiding unnecessary copy
· eb9c9a14
Fabian Reister
authored
3 years ago
eb9c9a14
cleanup
· 1741ed76
Fabian Reister
authored
3 years ago
1741ed76
bugfix: platform position controller is turning into wrong direction
· 1a5754e5
Fabian Reister
authored
3 years ago
Tested: from orientation -1.3 to 1.5
1a5754e5
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Fabian Reister authored
Fabian Reister authored
Fabian Reister authored