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- Are there unit tests for the trajectory generation (cartesian) and blending math
Are there unit tests for the trajectory generation (cartesian) and blending math
- johnmichaloski
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02 Aug 2017 14:25 #96916
by johnmichaloski
Are there unit tests for the trajectory generation (cartesian) and blending math was created by johnmichaloski
By Cartesian move I mean G1/G2. I am looking for trajectory generation and comparing with ROS and KDL.and any other open source solutions.
I extracted TC/TP and removed EMC global stuff (status, configuration) and bundled into "trajectory module" using QT. I rewrote posemath functionality using Eigen (like ROS, KDL) .
Now I'd like to test against working system. Of course it didnt work perfectly (hate making all those changes at once). If there are unit tests I'd really appreciate it - didn't see and LinuxCNC usually very straightforward.
When I run my own tests there is always blending between straight line segments (see attached gif). I have tried combinations of exact stop and zero stop and no blending, but always get this parabolic blend. I am probably doing something wrong.
Need expert help.
TIA.
John
I extracted TC/TP and removed EMC global stuff (status, configuration) and bundled into "trajectory module" using QT. I rewrote posemath functionality using Eigen (like ROS, KDL) .
Now I'd like to test against working system. Of course it didnt work perfectly (hate making all those changes at once). If there are unit tests I'd really appreciate it - didn't see and LinuxCNC usually very straightforward.
When I run my own tests there is always blending between straight line segments (see attached gif). I have tried combinations of exact stop and zero stop and no blending, but always get this parabolic blend. I am probably doing something wrong.
Need expert help.
TIA.
John
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02 Aug 2017 20:40 #96941
by andypugh
Replied by andypugh on topic Are there unit tests for the trajectory generation (cartesian) and blending math
There are tests that are run as part of the "runtests" scripts:
github.com/LinuxCNC/linuxcnc/tree/master...lanner/circular-arcs
But I don't think that these test what you want to test.
github.com/LinuxCNC/linuxcnc/tree/master...lanner/circular-arcs
But I don't think that these test what you want to test.
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- LinuxCNC
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- Are there unit tests for the trajectory generation (cartesian) and blending math
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