[Bug 777] New: Sign bug in Tree::ExtractChain method

Submitted by Wim Meeussen on Mon, 2010-07-26 21:08

https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=777

Summary: Sign bug in Tree::ExtractChain method
Product: KDL
Version: kdl-trunk
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P3
Component: Kinematic chains
AssignedTo: orocos-dev [..] ...
ReportedBy: meeussen [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Created an attachment (id=608)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=608)
patch

The current implementation of Tree::ExtractChain does not change the sign of
the joint axis vector when walking through the Tree from a leaf segment towards
the root segment. Therefore the resulting Chain and the original Tree have
different definitions joint positions. The attached patch fixes this.

‹ [Bug 693] New: Allow the root name to be set to something other than "root" -lLIBNAME vs. absolute path in CMake code ›
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Ruben Smits's picture

[Bug 777] Sign bug in Tree::ExtractChain method

Submitted by Ruben Smits on Thu, 2010-08-05 07:32.

https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=777

Ruben Smits <ruben [dot] smits [..] ...> changed:

What |Removed |Added
----------------------------------------------------------------------------
Resolution| |FIXED
Status|NEW |RESOLVED

--- Comment #3 from Ruben Smits <ruben [dot] smits [..] ...> 2010-08-05 09:06:14 ---
Patch applied on trunk, thanks for fixing:

svn ci src/tree.cpp tests/kinfamtest.cpp -m"Apply patch from Wim Meeussen for
bug 777"
Authentication realm: <https://svn.mech.kuleuven.be:443> Subversion
Repositories
Password for 'rsmits':
Sending src/tree.cpp
Sending tests/kinfamtest.cpp
Transmitting file data ..
Committed revision 32406.

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[Bug 777] Sign bug in Tree::ExtractChain method

Submitted by Wim Meeussen on Wed, 2010-08-04 20:56.

https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=777

--- Comment #2 from Wim Meeussen <meeussen [..] ...> 2010-08-04 22:27:33 ---
Created an attachment (id=609)
--> (https://www.fmtc.be/bugzilla/orocos/attachment.cgi?id=609)
patch

»
Ruben Smits's picture

[Bug 777] Sign bug in Tree::ExtractChain method

Submitted by Ruben Smits on Tue, 2010-07-27 07:56.

https://www.fmtc.be/bugzilla/orocos/show_bug.cgi?id=777

Ruben Smits <ruben [dot] smits [..] ...> changed:

What |Removed |Added
----------------------------------------------------------------------------
CC| |ruben [dot] smits [..] ...en.b
| |e

--- Comment #1 from Ruben Smits <ruben [dot] smits [..] ...> 2010-07-27 09:32:29 ---
Your patch fails to apply, can you create a patch against the latest version of
trunk?

Ruben

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