Skip to content

Use control period on twist #34

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom
Merged
Parent: Sync with indigo-devel upstream
merged 4 commits into from
Feb 8, 2016
Merged

Use control period on twist #34

merged 4 commits into from
Feb 8, 2016

Conversation

@efernandez
Copy link
Member

This should be reviewed after merging #33

This adds:

  • Use the control period in the odometry update methods
  • With this, we compute the (internal) incremental pose using the wheel joint velocities instead of the positions, so the user can compute the twist from velocities and the pose from positions
  • Factorizes the tests for covariance and other minor changes on the tests
  • Remove the sophus depend, no longer needed

@afakihcpr @servos

@efernandez efernandez force-pushed the use_control_period_on_twist branch from 8316b97 to 10086d1 Compare February 8, 2016 16:40
@servos
Copy link

servos commented Feb 8, 2016

After testing, this seems to fix the issues we were seeing in CISIM.

@servos
Copy link

servos commented Feb 8, 2016

LGTM

Enrique Fernandez added 4 commits February 8, 2016 14:03
Use control period on updates
38adc97 
This way we can have position increment (dp) and velocity (v) from the
actual position and velocity, or estimated from velocity and position,
respectively.
Add testCovariance helper function
964b130
Remove (not needed) sophus depend
1992170
Add eps arg to isSymmetric
c5e66a4
@efernandez efernandez force-pushed the use_control_period_on_twist branch from 10086d1 to c5e66a4 Compare February 8, 2016 19:03
@efernandez
Copy link
Member Author

I've simply rebased into indigo-devel (w/o any conflict) after merging #33
Merging this now...

efernandez pushed a commit that referenced this pull request Feb 8, 2016
Merge pull request #34 from clearpathrobotics/use_control_period_on_t…
a1f3622 
…wist

Use control period on twist
@efernandez efernandez merged commit a1f3622 into indigo-devel Feb 8, 2016
@efernandez efernandez deleted the use_control_period_on_twist branch February 10, 2016 20:40
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment

Reviewers

No reviews

Assignees

No one assigned

Labels

None yet

Projects

None yet

Milestone

No milestone

Development

Successfully merging this pull request may close these issues.

2 participants

@efernandez @servos