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Fix calibration #1017

Merged
merged 6 commits into from
Jun 17, 2024
Merged

Fix calibration #1017

merged 6 commits into from
Jun 17, 2024

Commits on Jun 17, 2024

  1. Make calibration tests parametrizable

    @fmauch @VinDp
    fmauch authored and VinDp committed Jun 17, 2024
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  2. Add two more real-world configurations to tests 

    Note: the second one fails with our current implementation
    @fmauch @VinDp
    fmauch authored and VinDp committed Jun 17, 2024
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  3. Fix calibration correction 

    There was an error from using std::atan instead of std::atan2.
In most cases that seemed to work fine, but with certain calibrations the
calculated angle could end up in another quadrant, so atan was returning
the wrong angle.

We renamed a lot of variables and changed some of the docstrings in order
to hopefully make things more understandable in the future.
    @fmauch @VinDp
    fmauch authored and VinDp committed Jun 17, 2024
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  4. Add robot model to calibration tests

    @fmauch @VinDp
    fmauch authored and VinDp committed Jun 17, 2024
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  5. Add documentation to calibration algorithm

    @fmauch @VinDp
    fmauch authored and VinDp committed Jun 17, 2024
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  6. Add a comment on test suite parametrization

    @fmauch
    fmauch committed Jun 17, 2024
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