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Fixed corner cases for ProjectToSO3(), and added a reference in README.

This commit is contained in:
HuanWeng 2023-01-31 00:01:02 -06:00
parent c849e4bfca
commit 36f0f1b471
3 changed files with 4 additions and 3 deletions
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1
README.md
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@ -23,6 +23,7 @@ Some unofficial versions in other languages are being developed:
Some libraries built on ours: Some libraries built on ours:
* [KinematicsFromDescriptionTool](https://github.com/Interbotix/kinematics_from_description), which calculates the kinematics input parameters from a robot's URDF or robot_description parameter using ROS and Python3. * [KinematicsFromDescriptionTool](https://github.com/Interbotix/kinematics_from_description), which calculates the kinematics input parameters from a robot's URDF or robot_description parameter using ROS and Python3.
* [mr_urdf_loader](https://github.com/tjdalsckd/mr_urdf_loader), which generates `M`, `Slist`, `Blist`, `Mlist` and `Glist` parameters for kinematics and dynamics. It also provides UR5 simulation using `PyBullet`.
* [tf_rbdl](https://github.com/junhyeokahn/tf_rbdl#tf_rbdl), which refactors the Python version using the package `tensorflow`. * [tf_rbdl](https://github.com/junhyeokahn/tf_rbdl#tf_rbdl), which refactors the Python version using the package `tensorflow`.
Any contribution is welcomed but the maintenance team for this library here doesn't vouch for the reliability of those projects. Any contribution is welcomed but the maintenance team for this library here doesn't vouch for the reliability of those projects.

4
packages/MATLAB/mr/ProjectToSO3.m
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@ -23,6 +23,6 @@ function R = ProjectToSO3(mat)
R = U * V'; R = U * V';
if det(R) < 0 if det(R) < 0
% In this case the result may be far from mat. % In this case the result may be far from mat.
R = [R(:, 1: 2); -R(:, 3)]; R = [R(:, 1: 2), -R(:, 3)];
end
end end
end

2
packages/Python/modern_robotics/core.py
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@ -426,7 +426,7 @@ def ProjectToSO3(mat):
R = np.dot(U, Vh) R = np.dot(U, Vh)
if np.linalg.det(R) < 0: if np.linalg.det(R) < 0:
# In this case the result may be far from mat. # In this case the result may be far from mat.
R[:, s[2, 2]] = -R[:, s[2, 2]] R[:, 2] = -R[:, 2]
return R return R
def ProjectToSE3(mat): def ProjectToSE3(mat):