[ODE] Turning off joint limits

[Russ Smith]

> As far as I know, a joint limit can be disabled by setting both low
> and high stop limits to
> -dInfinity and +dInfinity respectively, but, if I do that, the front
> wheel starts to behave in a weird way if the steering angle reaches
> +pi (+180) or -pi (-180).

i tried it. when the steering angle reaches +/- pi the wheel rotates
endlessly. the problem is not with the joint limit, but with the
test_buggy logic that computes the desired steering velocity. the
measured steering angle is always in the range +/- pi, so if you ask for
more than that the code tries (and fails) to achieve that impossible
angle with an endless angular velocity. this is not a problem with ODE,
it's a problem with the way it is used in this case.

russ.


-- 
Russell Smith
http://www.q12.org