Call correctChain in Calibration constructor in calibration.cpp

b-bremer · web-flow · commit b7a065400fa5 · 2024-12-02T14:20:40.000+01:00
Calling correctChain() in the constructor doesn't add much overhead, but improves usability.

E.g. the chain is already correct when calling "calcForwardKinematics".
diff --git a/ur_calibration/src/calibration.cpp b/ur_calibration/src/calibration.cpp
@@ -50,6 +50,7 @@ namespace ur_calibration
 Calibration::Calibration(const DHRobot& robot_parameters) : robot_parameters_(robot_parameters)
 {
   buildChain();
+  correctChain();
 }
 
 Calibration::~Calibration()

Original file line number	Diff line number	Diff line change
`@@ -50,6 +50,7 @@ namespace ur_calibration`
`50`	`50`	`Calibration::Calibration(const DHRobot& robot_parameters) : robot_parameters_(robot_parameters)`
`51`	`51`	`{`
`52`	`52`	`buildChain();`
	`53`	`+ correctChain();`
`53`	`54`	`}`
`54`	`55`
`55`	`56`	`Calibration::~Calibration()`