Fix to gravity compensation calculation #91
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Ensure correct joint positions before calling Base::displayInTipLink()
- Fix to gravity compensation calculation, where compensateGravity() should be at the same frame as m_ft_sensor_wrench - Use KDL:Wrench instead of ctrl::Vector6D to reduce format translation
- Use KDL:Wrench instead of ctrl::Vector6D to reduce format translation
- Use KDL:Wrench instead of ctrl::Vector6D to reduce format translation
- Use KDL:Wrench instead of ctrl::Vector6D to reduce format translation
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@KKSTB Thank you! That's very helpful. I'll check as soon as possible on a real system. |
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Fix to gravity compensation calculation, as mentioned in #39
The modification additionally changed variables from ctrl::Vector6D to KDL::Wrench to reduce format translation in displayInBaseLink() and displayInTipLink(). This is because such modification is closer to my working and tested copy. It is possible to convert them back to ctrl::Vector6D, but you should spend time doing tests again.