Fix calibration #1017
Merged
Fix calibration #1017
+354
−133
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Note: the second one fails with our current implementation
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.
mergify bot
pushed a commit
that referenced
this pull request
Jun 17, 2024
* Make calibration tests parametrizable * Add two more real-world configurations to tests Note: the second one fails with our current implementation * 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. * Add robot model to calibration tests * Add documentation to calibration algorithm * Add a comment on test suite parametrization (cherry picked from commit 557b57e) # Conflicts: # ur_calibration/doc/index.rst
mergify bot
pushed a commit
that referenced
this pull request
Jun 17, 2024
* Make calibration tests parametrizable * Add two more real-world configurations to tests Note: the second one fails with our current implementation * 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. * Add robot model to calibration tests * Add documentation to calibration algorithm * Add a comment on test suite parametrization (cherry picked from commit 557b57e) # Conflicts: # ur_calibration/doc/index.rst
This was referenced Jun 17, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
It seems that for certain robots the calibration extraction and correction fails. This PR aims at fixing this.
ToDo: