[rtss-devel] [ rtss-Bugs-2779877 ] FRNE fails on MDH-based robots with prismatic joints

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Bugs item #2779877, was opened at 2009-04-23 23:03
Message generated for change (Tracker Item Submitted) made by mmorelli
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Category: Generic - Scilab
Group: version 0.3.0 and lower
Status: Open
Resolution: None
Priority: 7
Private: No
Submitted By: Matteo Morelli (mmorelli)
Assigned to: Matteo Morelli (mmorelli)
Summary: FRNE fails on MDH-based robots with prismatic joints

Initial Comment:
FRNE routine returns a wrong answer when called on a robot object whose description is based on the MDH convention _and_ whose first joint is prismatic. The test.sce script attached shows the answer of rt_frne() is not equal to that of rt_rne() for a such robot.

This result is due to errors in assigning values to omega[0], alpha[0] and acc[0] in src/rt_frne.c.

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