From f15e38ea15d160c4e8e8e3b8408fe593765dd535 Mon Sep 17 00:00:00 2001 From: Arno Verduyn Date: Fri, 5 Jul 2024 17:21:00 +0200 Subject: [PATCH] resolved minor issue --- .../opti_calculate_screw_invariants_pose.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/invariants_py/calculate_invariants/opti_calculate_screw_invariants_pose.py b/invariants_py/calculate_invariants/opti_calculate_screw_invariants_pose.py index cb017df..5831f6b 100644 --- a/invariants_py/calculate_invariants/opti_calculate_screw_invariants_pose.py +++ b/invariants_py/calculate_invariants/opti_calculate_screw_invariants_pose.py @@ -105,10 +105,12 @@ def calculate_invariants(self, T_obj_m, h): if __name__ == "__main__": - OCP = OCP_calc_pose(N=100, rms_error_traj=10**-3) + N=100 + T_obj_m = np.tile(np.eye(4), (100, 1, 1)) # example: measured object poses + + OCP = OCP_calc_pose(T_obj_m, rms_error_traj=10**-3) # Example: calculate invariants for a given trajectory - T_obj_m = np.tile(np.eye(4), (100, 1, 1)) # example: measured object poses h = 0.01 # step size for integration of dynamic equations U, T_obj, T_isa = OCP.calculate_invariants(T_obj_m, h)