Hello, @bvadorno,
Currently, the plot method in DQ_SerialManipulator is correctly taking into account the transformation induced by set_effector() when plotting the end-effector's frame, but the frame is floating without any visible connection with the rest of the robot.
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function plot(robot,q,varargin) |
I think that, initially, we can consider just drawing a straight line between the last robot's frame and the end-effector's frame to represent this transformation, although in many cases that straight line would not be a good representation of the end-effector.
Maybe for 20.10 we can consider more interesting alternatives.
Hello, @bvadorno,
Currently, the plot method in
DQ_SerialManipulatoris correctly taking into account the transformation induced byset_effector()when plotting the end-effector's frame, but the frame is floating without any visible connection with the rest of the robot.matlab/robot_modeling/DQ_SerialManipulator.m
Line 337 in 203c833
I think that, initially, we can consider just drawing a straight line between the last robot's frame and the end-effector's frame to represent this transformation, although in many cases that straight line would not be a good representation of the end-effector.
Maybe for 20.10 we can consider more interesting alternatives.