Andy pugh wrote:
>I found some others, I think, too.
>You have a couple of equations of the form
>q = x^2 + y^2 + z^2
>p = sqrt (1 - q^2)
>Firstly, you get a lot of isnan (is not a number) errors if the result
>is negative, so an fabs() is needed
>Also, the form looks wrong, p ends up being in length-squared units, I
>don't think you want to square the q.
>Making those changes I have a moderately well-behaved kinematics,
>which will go into world mode and jogs in both joint and world.
>There is a slight worry that jogging X makes Y move, so I suspect that
>your kins are still not exact.
Sorry, I have read this email only right now. So, which changes I should make?
p = sqrt(fabs(1-q^2)) but then I have length-squared unit?
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