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#536 Rotated actuator model fix

Unstable
closed-accepted
Stage (103)
5
2010-01-19
2010-01-07
RAZOR
No

Actuators with a non-zero pose angle do not work correctly. I had one with an angle of 180 degrees, which resulted in it accelerating off in the wrong direction, ignoring the stops. They worked in the past, but it looks like the code to rotate the axis of movement by the initial angle when calculating the position got removed at some point.

The attached patch adds the removed code back in, along with a comment which attempts to explain why it is necessary.

Discussion

  • RAZOR
    RAZOR
    2010-01-07

    Fix for actuator models with non-zero pose angle

     
    Attachments
  • RAZOR
    RAZOR
    2010-01-07

    Corrected fix for rotated actuator models

     
    Attachments
  • RAZOR
    RAZOR
    2010-01-07

    Sorry, the first patch was incorrect. The axis should be rotated, as stated in the comment, not the pose difference. I have attached another patch which has this corrected.

     
  • The changes have been made in SVN trunk.
    Thank you for your contribution.

     
    • status: open --> closed-accepted
     
  • applied in rev 8521