Fix regression after #662 #666
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…oupledJointJacobian} to take into account that coupling formulae provides absolute angles w.r.t. the palm
Nicogene
approved these changes
Sep 18, 2023
traversaro
approved these changes
Sep 18, 2023
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Unfortunately, it seems that #662 introduced a regression in that some small but important math parts were removed.
Specifically, as the coupling laws provide results in terms of absolute angles w.r.t the palm while Gazebo operates in terms of relative angles, the following were part of the coupling handler before #662:
gazebo-yarp-plugins/plugins/controlboard/src/ControlBoardDriverCoupling.cpp
Line 1333 in 6bcccbd
gazebo-yarp-plugins/plugins/controlboard/src/ControlBoardDriverCoupling.cpp
Line 1386 in 6bcccbd
The
-q1and-1, respectively, are essential to make everything work right.This PR is restoring them in the right place after the modifications introduced by #662.
cc @Nicogene @traversaro