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YarpOpenraveControlboard always does rad/deg conversions (even if prismatic!) #41

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jgvictores opened this issue Nov 29, 2017 · 4 comments
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YarpOpenraveControlboard always does rad/deg conversions (even if prismatic!) #41

jgvictores opened this issue Nov 29, 2017 · 4 comments
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As of current develop and identified since 274cbc2 as part of #29 : YarpOpenraveControlboard supposes revolute joints, and therefore there are many radToDeg (in fact, hard-coded *180/M_PI) and degToRad conversions without checking if revolute or prismatic.

Must correct this!
@jgvictores jgvictores mentioned this issue Nov 29, 2017
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@jgvictores jgvictores changed the title YarpOpenraveControlboard supposes revolute joints YarpOpenraveControlboard always does rad/deg conversions (even if prismatic!) Nov 29, 2017
@jgvictores jgvictores self-assigned this Nov 29, 2017
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While not critical, I'd like to solve this before getting into #36 (or allowing the device to grow much more). Assigned high priority and blocking #36.

@jgvictores jgvictores mentioned this issue Nov 29, 2017
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Blocking #36.

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jgvictores commented Dec 16, 2017 •
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Wanted to first check if there were conversion functions in OpenRAVE. Apparently not.

jgvictores added a commit that referenced this issue Dec 16, 2017
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Add convenience degToRad and radToDeg, for #41
9bf65f8 
- Inspired by https://github.com/roboticslab-uc3m/kinematics-dynamics/blob/d1951c83221c247586cfc33b4b883e2298a573b5/libraries/KinematicRepresentationLib/KinematicRepresentation.hpp#L158-L180
jgvictores added a commit that referenced this issue Dec 16, 2017
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added and tried degToRadIfNotPrismatic, for #41
bbe7469
jgvictores added a commit that referenced this issue Dec 16, 2017
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add and use radToDegIfNotPrismatic, for #41
eb1412b
jgvictores added a commit that referenced this issue Dec 16, 2017
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use radToDegIfNotPrismatic, for #41
ea74f7b
jgvictores added a commit that referenced this issue Dec 16, 2017
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use IfNotPrismatic, for #41
137f13c
jgvictores added a commit that referenced this issue Dec 16, 2017
@jgvictores
use IfNotPrismatic, for #41
aa50bad
jgvictores added a commit that referenced this issue Dec 16, 2017
@jgvictores
use IfNotPrismatic, for #41
409d1fd
jgvictores added a commit that referenced this issue Dec 16, 2017
@jgvictores
use IfNotPrismatic, for #41
6ca1fed
jgvictores added a commit that referenced this issue Dec 16, 2017
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Merge branch 'fix-41-conversions' to develop, #41
a344cfb
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Done at a344cfb.

@jgvictores jgvictores mentioned this issue Dec 16, 2017
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