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Renamed normalize_joint_error_ to joints_angle_wraparound_ #876

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Merged
merged 2 commits into from
Nov 21, 2023
Merged

Renamed normalize_joint_error_ to joints_angle_wraparound_ #876

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fd9d14b
Renamed normalize_joint_error_ to joints_angle_wraparound_
Nov 14, 2023
e12af22
Update read_state_from_hardware
Nov 16, 2023
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4 changes: 2 additions & 2 deletions ur_controllers/src/scaled_joint_trajectory_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,7 +90,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const
auto compute_error_for_joint = [&](JointTrajectoryPoint& error, size_t index, const JointTrajectoryPoint& current,
const JointTrajectoryPoint& desired) {
// error defined as the difference between current and desired
if (normalize_joint_error_[index]) {
if (joints_angle_wraparound_[index]) {
// if desired, the shortest_angular_distance is calculated, i.e., the error is
// normalized between -pi<error<pi
error.positions[index] = angles::shortest_angular_distance(current.positions[index], desired.positions[index]);
Expand Down Expand Up @@ -129,7 +129,7 @@ controller_interface::return_type ScaledJointTrajectoryController::update(const

// current state update
state_current_.time_from_start.set__sec(0);
read_state_from_hardware(state_current_);
read_state_from_state_interfaces(state_current_);

// currently carrying out a trajectory
if (has_active_trajectory()) {
Expand Down