less dramatic euler fix

madhephaestus · madhephaestus · commit f34bf8c832bd · 2024-07-09T15:42:53.000-04:00
diff --git a/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java b/src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java
@@ -372,9 +372,9 @@ private double getAngle(int index){
 			return getStorage().getAngles(getOrder(), getConvention())[index];
 		} catch (CardanEulerSingularityException e) {
 			try {
-				return eulerFix( Math.toRadians(5),  index);
+				return eulerFix( Math.toRadians(0.001),  index);
 			} catch (CardanEulerSingularityException ex) {
-				return eulerFix(  Math.toRadians(-5),  index);
+				return eulerFix(  Math.toRadians(-0.001),  index);
 	
 			}
 		}

Original file line number	Diff line number	Diff line change
`@@ -372,9 +372,9 @@ private double getAngle(int index){`
`372`	`372`	`return getStorage().getAngles(getOrder(), getConvention())[index];`
`373`	`373`	`} catch (CardanEulerSingularityException e) {`
`374`	`374`	`try {`
`375`		`- return eulerFix( Math.toRadians(5), index);`
	`375`	`+ return eulerFix( Math.toRadians(0.001), index);`
`376`	`376`	`} catch (CardanEulerSingularityException ex) {`
`377`		`- return eulerFix( Math.toRadians(-5), index);`
	`377`	`+ return eulerFix( Math.toRadians(-0.001), index);`
`378`	`378`
`379`	`379`	`}`
`380`	`380`	`}`