Spline protective stop ci #162
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Codecov ReportPatch coverage:
Additional details and impacted files@@ Coverage Diff @@
## master #162 +/- ##
==========================================
+ Coverage 70.62% 70.73% +0.10%
==========================================
Files 69 69
Lines 2526 2525 -1
Branches 322 322
==========================================
+ Hits 1784 1786 +2
+ Misses 556 553 -3
Partials 186 186
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urmahp
approved these changes
Aug 7, 2023
| @@ -92,7 +93,7 @@ bool ScriptCommandInterface::setToolVoltage(const ToolVoltage voltage) | |||
| int32_t val = htobe32(toUnderlying(ScriptCommand::SET_TOOL_VOLTAGE)); | |||
| b_pos += append(b_pos, val); | |||
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| val = htobe32(toUnderlying(voltage) * MULT_JOINTSTATE); | |||
| val = htobe32(round(toUnderlying(voltage) * MULT_JOINTSTATE)); | |||
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This is already an int, so no need to round this.
| b_pos += append(b_pos, val); | ||
| } | ||
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| for (auto const& selection : *selection_vector) | ||
| { | ||
| val = htobe32(static_cast<int32_t>(selection * MULT_JOINTSTATE)); | ||
| val = htobe32(static_cast<int32_t>(round(selection * MULT_JOINTSTATE))); |
| b_pos += append(b_pos, val); | ||
| } | ||
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| val = htobe32(static_cast<int32_t>(type * MULT_JOINTSTATE)); | ||
| val = htobe32(static_cast<int32_t>(round(type * MULT_JOINTSTATE))); |
Identified that static cast can convert wrong when the float value is around but not zero (1e-322) resulting in a large number
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This PR mainly improve robustness for spline interpolation