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[WIP] Rapid robotics test - #73

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AndyZe wants to merge 41 commits into
andyz/squashed_improvementsfrom
andyz/rapid_robotics_test
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[WIP] Rapid robotics test#73
AndyZe wants to merge 41 commits into
andyz/squashed_improvementsfrom
andyz/rapid_robotics_test

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@AndyZe AndyZe commented Jan 2, 2021

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Encompasses #68

zultron and others added 30 commits November 9, 2020 16:31
@zultron
.travis.yml: Add code-coverage check
8e3bf3c
@zultron
Add single_joint_generator_test
a933b5e 
Copied from `trajectory_generation_test` and stripped down for the
single joint
@zultron
Add plot utility for debugging test output
043e5fd
@zultron
Updates after review: test variable names; indentation
242f877 
@AndyZe suggested these changes in PR #68.
@zultron
Clang formatting
f4b038e
@AndyZe
Setup tests to just run one. Minor comment line break cleanup.
15d8994
@AndyZe
Comment cleanup
43eeeb0
@AndyZe
Better comments on index conventions
3fef599
@AndyZe
Fix the Accel Limit error by updating vel component, always
11bddbe
@AndyZe
This is not time-optimal but it does not violate limits
3231871
@AndyZe
Clean up debug comments
cc5eea8
@AndyZe
Re-enable all tests
ed04730
@AndyZe
Delete streaming mode, for simplicity
05145b6
@AndyZe
Better checking of jerk limits
03fc352
@AndyZe
Check forwardLimitCompensation() success just at the end
fff98c7
@AndyZe
Don't just automatically set the last position to the desired position
7756947
@AndyZe
Replace index_last_successful with a boolean
ce85da6
@AndyZe
Tweak two position accuracy tols, ever so slightly
9c2b420
@AndyZe
Small optimization in synchronizeTrajComponents()
2a3f42a
@AndyZe
Fix uint-int comparison (build warning)
b60bfcb
@AndyZe
Revert 2a3f42a. Small logic fix in predictTimeToReach()
549e16f
@AndyZe
Better stop conditions for ForwardLimitCompensation. Comment 2 tests.
b7be2a5
@AndyZe
Use delta_j and delta_a in delta_v calculation
6cd44a2
@AndyZe
Small fix to simple_example.cpp file path
d1caa9c
@AndyZe
Add Rapid Robotics example
7e27edf
@AndyZe
Add important "else" for acceleration comp
9ca8fd6
@AndyZe
Add position tolerance to jerk comp as well
f94f4b2
@AndyZe
No longer clip output vectors. It hides bugs too easily.
b5dab1d
@AndyZe
Remove calculateDerivativesFromVelocity()
d0072ac
@AndyZe
Rename three_dof_examples -> six_dof_examples
4d8c9e7
@AndyZe AndyZe mentioned this pull request Jan 2, 2021
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@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch 4 times, most recently from 75acbbe to d36797e Compare January 2, 2021 16:05
@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch from d36797e to e9e07df Compare January 2, 2021 20:05
@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch 3 times, most recently from 0675129 to 7d3c830 Compare January 3, 2021 13:41
@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch from 7d3c830 to df97021 Compare January 3, 2021 13:50
@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch from 2387a33 to ac19392 Compare January 3, 2021 22:32
@AndyZe AndyZe closed this Jan 6, 2021
@AndyZe AndyZe reopened this Jan 7, 2021
@AndyZe
AndyZe force-pushed the andyz/rapid_robotics_test branch from 810e796 to 9fe57a3 Compare January 7, 2021 14:26
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2 participants

@AndyZe @zultron