Don't wrap continuous joint angles #30
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dudasdavid
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Jul 9, 2021
implement PR TAMS-Group#30
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Hi!
I was working on a project involving incremental tracking and I noticed that a continuous-revolute joint on the robot would suddenly flip almost 360 degrees (thankfully was doing this in sim) to get to an angle just a tad bit CW or CCW of the current position. Thanks to a pointer from Andy Zelenak, it looked like the angle-wrapping code would wrap around even continuous joint angles leading to these jumpy motions that I was seeing. This PR creates a fix for it that I've verified to be working on my project.