Force CC-related interfaces to stick to scaled axis-angle representation, provide conversion utilities #114
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* allocate memory for vector container only once, on instantiation * avoid creating a copy of the first element of the input bottle
Also replace inline code with call to KdlVectorConverter::twistToVector in KdlSolver::fwdKinError.
See d59c5d4. It turns out that reserve() does allocate memory and allows further calls to operator[], but the reserved *capacity* does not matter when resize() is called, that is: std::vector<int> v; // size = capacity = 0 v.reserve(1); // next instruction would fail without this v[0] = 1; v.resize(1); // same as v.resize(1, 0) std::cout < v[0]; yields '0' since resize() sees a zero-sized vector and overwrites the 'unmanaged' elements (also, at() would throw an exception). This, in turn, does work when push_back() is used instead.
Conflicts: libraries/TeoYarp/CartesianControlServer/CartesianControlServer.cpp
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See #113 for background. Notable changes:
New
KinematicRepresentationLiblibrary, depends internally on KDL. Provides a collection of static methods in theKinRepresentationclass to handle conversion between linear and angular representations, focusing on XXX_to_axisAngleScaled and axisAngleScaled_to_XXX.ICartesianControl,ICartesianSolverandTrajectoryinterfaces assume that generic containers storing task-space data stick to the scaled axis-angle representation (radians) and linear cartesian coordinates (meters). Where needed, utility methods fromKinRepresentationare used.KdlVectorConverterhas been simplified, it's sole purpose ATM is to provide a seamless conversion between STL and KDL classes.The
--angleReprparameter is now only relevant to theCartesianControlServer, other devices ignore it. If non-empty, CCS opens a/rpc_transform:sport and uses utility methods fromKinRepresentationto convert between axis-angle scaled and the representation pointed by--angleRepr.For backward compatibility,
CartesianControlClientmay talk to/rpc_transform:s(instead of/rpc:s) if--transformis provided.The port reader implementation in
CartesianControlServerhas been split into a newRpcResponderclass for readability and ease of maintenance. Further, this class is derived from to correctly handle callbacks for the/rpc_transform:sport.Helper methods
KdlVectorConverter::toDegandKdlVectorConverter::toRadhave been removed in favour ofKinRepresentation::degToRadandKinRepresentation::radToDeg.Added unit tests for
KinRepresentation.Added
KdlVectorConverter::vectorToTwistfor completeness (we already hadKdlVectorConverter::twistToVector).