Add more information about acceleration/velocity parametrization in trajectory examples #251
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…rajectory examples The examples were mainly using either time parametrization or implicit acc/vel parametrization using the default values. This adds more explicit acc/vel parametrized motions to the examples with some explaining comments.
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## master #251 +/- ##
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+ Coverage 71.71% 73.20% +1.49%
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Lines 2786 2889 +103
Branches 353 360 +7
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urfeex
changed the title
urrsk
approved these changes
Jan 24, 2025
| for (size_t i = 0; i < points.size(); i++) | ||
| { | ||
| // setting the cartesian parameter makes it interpret the 6d vector as a pose and use movel | ||
| g_my_driver->writeTrajectoryPoint(points[i], true, motion_durations[i], blend_radii[i]); | ||
| } | ||
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| // Same motion, but parametrized with acceleration and velocity | ||
| motion_durations = { 0.0, 0.0 }; |
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Maybe we should have some different "writeTrajecotryPoint() function. Like one without the duration, as it is optional to define it. When we do not need to have a zero vector here
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We might have to sit down and think about an API 2.0 at some point.
Co-authored-by: Rune Søe-Knudsen <41109954+urrsk@users.noreply.github.com>
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The examples were mainly using either time parametrization or implicit acc/vel parametrization using the default values.
This adds more explicit acc/vel parametrized motions to the examples with some explaining comments.