Add relative jacobian #226
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| /* | |||
| * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT) | |||
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| * Copyright (C) 2018 Istituto Italiano di Tecnologia (IIT) | |
| * Copyright (C) 2021 Istituto Italiano di Tecnologia (IIT) |
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Updated in c70ea7d
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Please ignore codacy, it is a false positive as the analyzer don't get Eigen::Map semantics. |
| * | ||
| * | Type | Index | Rows | Cols | Name | | ||
| * | ---- | :---: | :---: | :---: | ----- | | ||
| * | ::STRING | 0 + WBBlock::NumberOfParameters | 1 | 1 | "Frame" | |
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This does not seem to be consistent with https://github.com/robotology/wb-toolbox/pull/226/files#diff-2b9b96a62b999213b36e92d8d6259e05232da379e1c2a6e722f67ee1f35f8b5cR81 .
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Updated in c70ea7d
| Description "This block retrieves the Relative Jacobian between two specified frames.\n\nAssuming DoFs is the numbe" | ||
| "r of internal degrees of freedom of the robot:\n\nInput:\n - Joint configuration: Vector of size DoFs, representing" | ||
| " the configuration of the joints.\n\nOutput:\n - Jacobian: a 6xdofs matrix representing the Jacobian between the sp" | ||
| "ecified frames written in Mixed representation: origin as child, orientation as parent.\n\nParameters:\n - Frame na" |
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I may be missing something, but it is not clear from here wheter "Frame 1" is parent or "Frame 2" is child. Furthermore, I am not sure if parent/child are the best choice of words, as this frames can be also relative to links that are not one the parent of another. Perhaps referenceFrame/frame or reference/leaf could be better names?
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Updated in c70ea7d
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@traversaro I addressed your previous comments, ready for review again. |
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Great! Can you rebase this branch on master, and update the CHANGELOG ? |
HosameldinMohamed
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Done in d19eba8 |
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@HosameldinMohamed do you have any planned future improvements? If not, I think I can proceed with a release before we forget about it. |
@traversaro nothing at the moment. |
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Thanks! |
Adds a block that computes the
Relative Jacobian, implementing https://github.com/robotology/idyntree/blob/f9051752ca5a6ca8f3a4f101e4a536fe1eb62c5f/src/high-level/src/KinDynComputations.cpp#L1661-L1663See #225