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refactor(ets): follow-ups to fixjoint (#740)

Abierto
  • ¿Algo no está bien?
#825 2 comentarios 0 reacciones 0 asignados Ver en GitHub

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Evaluación

Dificultad
4/5
Tiempo estimado
3-5 días
Aptitud para principiantes
52/100
Tipo de issue
Refactorización
Claridad
Bastante claro
Estado de actividad
Activo
Stack tecnológico
python
Área
documentation, robotics

Línea de trabajo

Start by comparing fixjoint in ETS.py and ETS2.py, then read BaseETS in ets/_ETS.py and the existing tests to understand shared behavior and joint indexing. Update the named ETS and IK documentation pages as needed. Done means the shared implementation and tests cover the requested edge cases, the docstring and documentation are updated, and the locked-joint IK example is included.

Escrito por el modelo de indexación a partir del texto del issue.

Descripción

enhancement help wanted

Follow-up to #740, which added ETS.fixjoint and ETS2.fixjoint (closes #724). The feature works and is tested; these are the tidy-ups found in review, none of them blocking.

Help wanted, all small:

  • fixjoint is the same code in ETS.py and ETS2.py. Move it once into BaseETS (ets/_ETS.py), with the tests shared, so a fix is made in one place.
  • Add a worked example to the docstring, under .. runblock:: pycon, showing a flipped joint, unit="deg", and a robot's ets() with a joint fixed. Add .. versionadded:: too.
  • Add fixjoint to the Modification tables on the ETS documentation pages (docs/source/ets_3d.rst and ets_2d.rst) and to the lists of members in the Details sections.
  • Reject a bool as the joint index. isinstance(True, int) is true, so fixjoint(True, 0.1) currently fixes joint 1.
  • Check what happens to a joint with explicit jindex values that leave a gap after fixing (the surviving indices are kept, as for split), and say so in the docstring; this ties in with #803, where jindices that are not a permutation of 0..n-1 are not handled consistently.
  • Use it: an IK example that solves a 7-joint arm with one joint locked, in the IK documentation.
Lenguaje dominante
C++
Estrellas
3.5k
Forks
639
Merge medio
1 d 8 h
PR fusionados (30 d)
113

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  4. Abre un pull request que haga referencia al número del issue.

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