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fix(cpp): replace isapprox comperison #105

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Merged
juelg merged 1 commit into from
Aug 8, 2024
Merged

fix(cpp): replace isapprox comperison #105

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2 changes: 1 addition & 1 deletion src/common/Pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,7 +177,7 @@ Pose Pose::inverse() const {
}

bool Pose::is_close(const Pose &other, double eps_r, double eps_t) const {
return (this->translation() - other.translation()).norm() < eps_t &&
return (this->translation() - other.translation()).lpNorm<1>() < eps_t &&
this->quaternion().angularDistance(other.quaternion()) < eps_r;
}

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2 changes: 1 addition & 1 deletion src/common/Pose.h
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Expand Up @@ -55,7 +55,7 @@ struct RPY {
}

bool is_close(const RPY &other, double eps = 1e-8) const {
return this->as_vector().isApprox(other.as_vector(), eps);
return (this->as_vector() - other.as_vector()).lpNorm<1>() < eps;
}
};

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11 changes: 7 additions & 4 deletions src/sim/FR3.cpp
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Expand Up @@ -187,15 +187,18 @@ void FR3::set_cartesian_position(const common::Pose& pose) {
}
void FR3::is_moving_callback() {
common::Vector7d current_angles = this->get_joint_position();
this->state.is_moving = not this->state.previous_angles.isApprox(
current_angles, 0.0001); // TODO: careful with isapprox
// difference of the largest element is smaller than threshold
this->state.is_moving =
(current_angles - this->state.previous_angles).cwiseAbs().maxCoeff() >
0.0001;
this->state.previous_angles = current_angles;
}

void FR3::is_arrived_callback() {
common::Vector7d current_angles = this->get_joint_position();
this->state.is_arrived = this->state.target_angles.isApprox(
current_angles, this->cfg.joint_rotational_tolerance);
this->state.is_arrived =
(current_angles - this->state.target_angles).cwiseAbs().maxCoeff() <
this->cfg.joint_rotational_tolerance;
}

bool FR3::collision_callback() {
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