angles

Description

This package provides a set of simple math utilities to work with angles. The utilities cover simple things like normalizing an angle and conversion between degrees and radians. But even if you're trying to calculate things like the shortest angular distance between two joint space positions of your robot, but the joint motion is constrained by joint limits, this package is what you need. The code in this package is stable and well tested. There are no plans for major changes in the near future.

Software Architecture

Software architecture description

The Angles contains the following methods:

Angular conversions: angles::from_degrees, angles::to_degrees Angular manipulations: angles::normalize_angle_positive, angles::normalize_angle Angular distance: angles::shortest_angular_distance, angles::shortest_angular_distance_with_limits Angular tools: angles::find_min_max_delta, angles::two_pi_complement

input:

angles/
├── CHANGELOG.rst
├── CMakeLists.txt
├── doc.dox
├── include
│   └── angles
├── package.xml
├── setup.py
├── src
│   └── angles
└── test
    ├── CMakeLists.txt
    ├── utest.cpp
    └── utest.py

Installation

1. Download RPM

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-angles/ros-noetic-ros-angles-1.9.13-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-angles/ros-noetic-ros-angles-1.9.13-1.oe2203.x86_64.rpm

2. Install RPM

aarch64:

sudo rpm -ivh ros-noetic-ros-angles-1.9.13-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-angles-1.9.13-1.oe2203.x86_64.rpm --nodeps --force

Instructions

Dependence installation

sh /opt/ros/noetic/install_dependence.sh

Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful

angles/
├── cmake.lock
├── env.sh
├── lib
│   ├── angles
│   ├── pkgconfig
│   │   └── angles.pc
│   └── python2.7
│       └── dist-packages
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
├── setup.zsh
└── share
    └── angles
        └── cmake

Contribution

1. Fork the repository
2. Create Feat_xxx branch
3. Commit your code
4. Create Pull Request

Gitee Feature

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