Calculate Jacobian Inverse

[francesco-donofrio]

This PR introduces a method for computing the Jacobian inverse, along with a corresponding KDL implementation.

[codecov]

Codecov Report

Attention: Patch coverage is 94.44444% with 2 lines in your changes missing coverage. Please review.

Project coverage is 88.05%. Comparing base (f9c7c3a) to head (a5eb6a7).
Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
...ics_interface_kdl/src/kinematics_interface_kdl.cpp	90.47%	1 Missing and 1 partial ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master      #92      +/-   ##
==========================================
+ Coverage   80.20%   88.05%   +7.85%     
==========================================
  Files           4        4              
  Lines         197      226      +29     
  Branches       35       41       +6     
==========================================
+ Hits          158      199      +41     
+ Misses         28       15      -13     
- Partials       11       12       +1     

Flag	Coverage Δ
unittests	88.05% <94.44%> (+7.85%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...lude/kinematics_interface/kinematics_interface.hpp	100.00% <ø> (ø)
kinematics_interface/src/kinematics_interface.cpp	90.00% <100.00%> (+12.22%)	⬆️
...terface_kdl/test/test_kinematics_interface_kdl.cpp	100.00% <100.00%> (ø)
...ics_interface_kdl/src/kinematics_interface_kdl.cpp	78.94% <90.47%> (+11.94%)	⬆️

[progtologist]

Please add some unit tests to improve coverage

[christophfroehlich]

As already mentioned, please consider adding some unit tests.
And I'd prefer to use the new method also in
convert_cartesian_deltas_to_joint_deltas instead of duplicating the calculation?

[delipl]

Do you need any help with that?
I would love to pass this feature.

[francescodonofrio]

Hi @delipl, thank you for your support. However, I’m currently waiting for the reviewers.

[bmagyar]

Looks good to me ok first read, thanks for providing tests!

[christophfroehlich]

Thanks for the follow-up. Sorry that I haven't responded earlier.

[christophfroehlich]

@francesco-donofrio please merge the master into your branch (you have deactivated maintainer access?), the new clang workflow is missing here.

[mergify]

refresh

❌ Command disallowed due to command restrictions in the Mergify configuration.

• any of:
  • sender = {{author}}
  • sender-permission >= write

[francescodonofrio]

@christophfroehlich I've merged the master into my branch.

[christophfroehlich]

clang job fails due to upstream regression. Tested locally!

[francescodonofrio]

@christophfroehlich @bmagyar Thank you for your work!