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Add parameterization type to orientation constraints #96

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merged 8 commits into from
Nov 19, 2020
Merged

Add parameterization type to orientation constraints #96

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fe38f75
add parameterization type to orientation constraints
JeroenDM Sep 28, 2020
c829a75
Apply suggestions from Felix
JeroenDM Nov 3, 2020
552e253
improve documentation OrientationConstraint msg
JeroenDM Nov 3, 2020
cfffda5
punctuation change + replace confusing comment
JeroenDM Nov 4, 2020
004d788
change below to above
JeroenDM Nov 16, 2020
180b316
format orientation constraint comment
JeroenDM Nov 19, 2020
490e752
Suggestion Felix comment formulation
JeroenDM Nov 19, 2020
1f4f230
Suggestion Felix, move optional to the end of the sentence
JeroenDM Nov 19, 2020
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13 changes: 12 additions & 1 deletion msg/OrientationConstraint.msg
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Original file line number Diff line number Diff line change
Expand Up @@ -8,10 +8,21 @@ geometry_msgs/Quaternion orientation
# The robot link this constraint refers to
string link_name

# optional axis-angle error tolerances specified
# Optional tolerance on the three vector components of the orientation error
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float64 absolute_x_axis_tolerance
float64 absolute_y_axis_tolerance
float64 absolute_z_axis_tolerance

# Defines how the orientation error is calculated
# See absolute axis tolerance below to specify the magnitude.
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I'm good with the content, but shouldn't this new block be moved above the absolute_axis_tolerance entries? This line also assumes they are below.

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Oh, good catch, I thought I changed it to above... I will fix it. But about the order:

My reasoning was that if you do not care about the parameterization you don't have to read it. I imagined the file was organized with the important (required) features at the top and the optional less common features at the bottom.

But on the other hand, it is maybe better to first mention how the tolerance values are used before allowing you to specify them.

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@felixvd I changed "below" to "above". I assume users start reading at the top of the file, and they can stop reading if they don't care about which parameterization is used. (For small tolerances, or tolerance on a single axis, this does not matter.)

Is this ok?

uint8 parameterization

# The different options for the orientation error parameterization
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# Intrinsic xyz Euler angles (default value)
uint8 XYZ_EULER_ANGLES=0
# A rotation vector. This is similar to the angle-axis representation,
# but the magnitude of the vector represents the rotation angle.
uint8 ROTATION_VECTOR=1

# A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
float64 weight