Support continuous (unbounded) joints properly #59
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Tested with the Kinova Gen3 and found another bug with the joint value clamping + fixed it. Now it should be good! 2023-09-29.10-29-28.mp4 |
eholum
reviewed
Nov 10, 2023
src/robot.cpp
Outdated
| var.span = var.max - var.min; | ||
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| if (!(var.span >= 0 && var.span < std::numeric_limits<double>::max())) var.span = 1; | ||
| var.span = var.bounded ? var.max - var.min : kUnboundedVariableSpan; |
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Should var.span just be a function?
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I think we want this to be a variable so it doesn't have to be needlessly recalculated multiple times... but with your next comment, I like the idea of providing abstractions to clip variables to limits / generate random values, and then no other code besides these functions would touch the span member variable.
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Thanks @eholum -- I made some member functions in the In doing so, I also:
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eholum
approved these changes
Nov 15, 2023
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This PR correctly handles how to deal with continuous joints by ensuring that none of the RSL samples use the full floating-point span. Also did some slight cleanup along the way.
The key here is that, if a joint is continuous, our sampling now is casting a "spread" of +/- pi radians around the current state. That way the sampling is somewhat limited.
Closes #57