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[JTC] Renaming variables, reordering trajectory checks and fixing open-loop mode by adding last commanded time. #1032
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This pull request is in conflict. Could you fix it @destogl? |
Recently merged the wraparound feature which caused some conflicts. Also, this may be interesting for @fmauch |
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LGTM and improves readability!
👀 @destogl |
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LGTM, apart from the following minor comment.
Now with the changes, it looks clear and good
if (fabs(last_commanded_time_.seconds()) < std::numeric_limits<float>::epsilon()) | ||
{ | ||
last_commanded_time_ = time; | ||
} | ||
current_trajectory_->set_point_before_trajectory_msg( | ||
last_commanded_time_, last_commanded_state_, joints_angle_wraparound_); |
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In this case, the last_command_time_
would be same for the first 2 iterations. Is that okay?. If its fine, then all good.
Please adjust / extend the tests |
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This includes #780, which has the same failing test: test_no_jump_when_state_tracking_error_not_updated
This PR increseas readability of the JTC by renaming trajectory varialbes to be semantically correct and self explainable.
Also it reoders checks of the trajectories done in the callback. They are grouped based on the things they are checking, i.e., 1. data available, 2. time checks; 3. trajectory point checks.
Additionally, it adds "last_commanded_time_" for the open loop mode to be more correct when setting point before trajectory.