{"action":"created","comment":{"url":"https://api.github.com/repos/ipa320/cob_control/pulls/comments/72613746","id":72613746,"diff_hunk":"@@ -287,7 +287,8 @@ void CollisionAvoidance<T_PARAMS, PRIO>::calcPartialValues()\n         {\n             if (params.frame_names.end() != str_it)\n             {\n-                Eigen::Vector3d collision_pnt_vector = it->nearest_point_frame_vector - it->frame_vector;\n+                Eigen::Vector3d collision_pnt_vector = it->nearest_point_frame_vector;","path":"cob_twist_controller/include/cob_twist_controller/constraints/constraint_ca_impl.h","position":5,"original_position":5,"commit_id":"864f5e06a999ba310c4a15fd001853c821e5d29d","original_commit_id":"e004474d6e27baa2842382b607c994f2a1a33f37","user":{"login":"ipa-fxm-cm","id":8415146,"avatar_url":"https://avatars.githubusercontent.com/u/8415146?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm-cm","html_url":"https://github.com/ipa-fxm-cm","followers_url":"https://api.github.com/users/ipa-fxm-cm/followers","following_url":"https://api.github.com/users/ipa-fxm-cm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm-cm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm-cm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm-cm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm-cm/orgs","repos_url":"https://api.github.com/users/ipa-fxm-cm/repos","events_url":"https://api.github.com/users/ipa-fxm-cm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm-cm/received_events","type":"User","site_admin":false},"body":"Marco had to implement its own fk solver for each link such that he could compute the distances between those links. The distance was computed to the center of the object, but he needed the distance to the surface. So he had to compute the frame_vector for each mesh. This vector represents the distance from the centered point of the object to the point on the surface. By subtracting those two vectors, he obtained the real minimal distance between two links.\r\n\r\nSince we replaced this inefficient distance computation to the moveIt distance computation, we automatically obtain the minimal distance to the surface. That's why this is valid and we don't need to subtract anything.","created_at":"2016-07-28T12:39:54Z","updated_at":"2016-07-28T12:39:54Z","html_url":"https://github.com/ipa320/cob_control/pull/110#discussion_r72613746","pull_request_url":"https://api.github.com/repos/ipa320/cob_control/pulls/110","_links":{"self":{"href":"https://api.github.com/repos/ipa320/cob_control/pulls/comments/72613746"},"html":{"href":"https://github.com/ipa320/cob_control/pull/110#discussion_r72613746"},"pull_request":{"href":"https://api.github.com/repos/ipa320/cob_control/pulls/110"}}},"pull_request":{"url":"https://api.github.com/repos/ipa320/cob_control/pulls/110","id":78858637,"html_url":"https://github.com/ipa320/cob_control/pull/110","diff_url":"https://github.com/ipa320/cob_control/pull/110.diff","patch_url":"https://github.com/ipa320/cob_control/pull/110.patch","issue_url":"https://api.github.com/repos/ipa320/cob_control/issues/110","number":110,"state":"open","locked":false,"title":"Twist controller extensions","user":{"login":"ipa-fxm-cm","id":8415146,"avatar_url":"https://avatars.githubusercontent.com/u/8415146?v=3","gravatar_id":"","url":"https://api.github.com/users/ipa-fxm-cm","html_url":"https://github.com/ipa-fxm-cm","followers_url":"https://api.github.com/users/ipa-fxm-cm/followers","following_url":"https://api.github.com/users/ipa-fxm-cm/following{/other_user}","gists_url":"https://api.github.com/users/ipa-fxm-cm/gists{/gist_id}","starred_url":"https://api.github.com/users/ipa-fxm-cm/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ipa-fxm-cm/subscriptions","organizations_url":"https://api.github.com/users/ipa-fxm-cm/orgs","repos_url":"https://api.github.com/users/ipa-fxm-cm/repos","events_url":"https://api.github.com/users/ipa-fxm-cm/events{/privacy}","received_events_url":"https://api.github.com/users/ipa-fxm-cm/received_events","type":"User","site_admin":false},"body":"* Added a new constraint for Joint Singularity Avoidance (JSA). This doesn't work right now and we're trying to change this constraint to maximize the manipulability rate and find a better gain for the new introduced singularity avoidance algorithm\r\n\r\n* Added new singularity avoidance algorithm with 3 new parameters in the RQT dynamic reconfigure (damping_delta, damping_gain, damping_slope). This behaves in singular positions better and calculates for each joint its own damping value lambda. (cp. the old one calculated one damping value for all joints) \r\n\r\n* Added base_active mode for stack_of_tasks controller. I wasn't able to verify this 100 % since the base_active doesn't behave as I want to ( extension_ratio needs to be derived dynamically ). The new singularity avoidance algorithm with manipulability optimization might be the right way to achieve this goal. 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