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//joint/axis/xyz: Should normalize, or fail if norm(xyz) < tol #307

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EricCousineau-TRI opened this issue Jun 25, 2020 · 1 comment
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//joint/axis/xyz: Should normalize, or fail if norm(xyz) < tol #307

EricCousineau-TRI opened this issue Jun 25, 2020 · 1 comment
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@azeey

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@EricCousineau-TRI
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At present, JointAxis asks for vectors to be normalized, but does not enforce / fix it:
https://github.com/osrf/sdformat/blob/55029bbf533b26ddb2ea35acfdb4e1c7434a401e/include/sdf/JointAxis.hh#L85-L87

Ideal:

  • If norm(xyz) < eps, fail. Normalizing this is junk.
  • Otherwise, xyz /= norm(xyz).
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@azeey @EricCousineau-TRI