icub3: add complete joint test #193
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Nicogene
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| expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.267012,-0.960459,-0.0788901)); | ||
| expectedDirectionInRootLink.push_back(iDynTree::Direction(0.0713662,0.0619303,-0.995526)); | ||
| expectedDirectionInRootLink.push_back(iDynTree::Direction(-0.961047,0.271447,-0.0520081)); | ||
| expectedDirectionInRootLink.push_back(iDynTree::Direction(0.267012,0.960459,0.0788901)); |
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Sorry for being picky, but the code as written in this form would be quite complicate to maintain, as it is difficult to understand which axis correspond to which joint.
Could it make sense to write it as:
axisNames.push_back("torso_roll");
expectedDirectionInRootLink.push_back(iDynTree::Direction(-1,0,0));
axisNames.push_back("l_hip_pitch");
expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0));
axisNames.push_back("r_hip_pitch");
expectedDirectionInRootLink.push_back(iDynTree::Direction(0,-1,0));
And so on so forth?
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Now should be clearer, it would be better to creat a struct with name and expected rotation but it may be refactored in the future
tests/icub-model-test.cpp
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| ok = ok & checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "l_leg_ft_sensor"); | ||
| ok = ok & checkFTSensorIsCorrectlyOriented(comp, rootLink_R_sensorFrameExpected, "r_leg_ft_sensor"); |
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This is extremely strange. I would expect the FT frames of the FT in the legs to have the Z direction corresponding to the root link, and then having just an additional rotation in the Z direction due to how the sensor is mounted, as it happens in the feet. As we did not validated the FT frames in the model, this may suggest that the frame orientation is not correct, so for the time being I would avoid putting them in the tests if we do not know if this frames are correct.
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I agree, moreover now the fts in the legs are disabled, then I remove them from the test
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Feel free to merge in the form you prefer (squash/no squash). |
It fixes #179.
It also fixes partially #181
cc @GiulioRomualdi