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normalize yaw interpolate planar joint for diff drive #3666

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normalize yaw interpolate planar joint for diff drive #3666

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60e3e2b
normalize rotation
jsupratman13 Jan 19, 2026
13f2051
added test code
jsupratman13 Jan 19, 2026
075979e
fix format
jsupratman13 Jan 19, 2026
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1 change: 1 addition & 0 deletions moveit_core/robot_model/src/planar_joint_model.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -271,6 +271,7 @@ void PlanarJointModel::interpolate(const double* from, const double* to, const d
state[1] = to[1];
state[2] = drive_angle + final_turn * percent;
}
normalizeRotation(state);
}
}

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20 changes: 20 additions & 0 deletions moveit_core/robot_model/test/test.cpp
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Expand Up @@ -204,6 +204,26 @@ TEST(PlanarJointTest, ComputeVariablePositionsNormalizeYaw)
}
}

TEST(PlanarJointTest, InterpolateNormalizesYaw)
{
// Create a simple planar joint model with some dummy parameters
moveit::core::PlanarJointModel pjm("joint", 0, 0);

// Test for normalization
const double from[3] = { 0.0, 0.0, -2.9 };
const double to[3] = { 0.0, 0.0, 3.0 };

// Check that yaw value is normalized between [-pi, pi]
for (auto model : { moveit::core::PlanarJointModel::HOLONOMIC, moveit::core::PlanarJointModel::DIFF_DRIVE })
{
pjm.setMotionModel(model);
double state[3];
pjm.interpolate(from, to, 1.0, state);
EXPECT_GE(state[2], -M_PI) << "model=" << model << " theta=" << state[2];
EXPECT_LE(state[2], M_PI) << "model=" << model << " theta=" << state[2];
}
}

int main(int argc, char** argv)
{
testing::InitGoogleTest(&argc, argv);
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