Bugfix/urdfparser #1064
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Bugfix/urdfparser #1064
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jslee02
previously approved these changes
May 1, 2018
dart/utils/urdf/DartLoader.cpp
Outdated
| case urdf::Joint::CONTINUOUS: | ||
| { | ||
| singleDof.mPositionLowerLimits[0] = -math::constantsd::inf(); |
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Nit: Could we comment the reason of this overwriting something like:
// We overwrite joint position limits to negative/positive infinities
// for "continuous" joint. This is because the URDF parser ignorantly
// reads joint limits or defaults to zero, which always should be
// infinity for "continuous" joint.
Codecov Report
@@ Coverage Diff @@
## release-6.5 #1064 +/- ##
===============================================
+ Coverage 56.57% 56.61% +0.03%
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Files 316 316
Lines 24387 24393 +6
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+ Hits 13797 13809 +12
+ Misses 10590 10584 -6
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mxgrey
previously approved these changes
May 1, 2018
|
Uh oh. Sorry for dismissing reviews with minor updates. Updated |
mxgrey
previously approved these changes
May 1, 2018
jslee02
approved these changes
May 3, 2018
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Continuous Joints have been previously parsed with joint limits set to 0 resulting in incorrect behavior of the joint and relevant functions [For instance,
isCyclic()].This PR corrects the parsing for these joints by setting the joint limits to negative/positive infinity.
To show the behavior:
Commit 456cca0 has a test to show that current implementation has a bug.
Commit 5eff95d provides a fix.
Commit 9d8d316 has the test to show the fix works.
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