API for utilizing Analytical IK #530
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… grey/analytical
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I am in the process of integrating HERB's |
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Looks like AppVeyor had a server issue. |
| mHubo->getJoint(0)->setPositions(FreeJoint::convertToPositions(new_tf)); | ||
| } | ||
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| bool solved = mHubo->getIK(true)->solve(); |
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Unused variable warning here. I guess you used this variable for debugging.
| @@ -428,6 +428,22 @@ bool verifyRotation(const Eigen::Matrix3d& _R); | |||
| /// all the elements are not NaN values. | |||
| bool verifyTransform(const Eigen::Isometry3d& _T); | |||
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| /// Get the remainder of dividing x by y | |||
| inline double mod(double x, double y) | |||
| { | |||
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Any reason we don't use std::fmod(double, double)?
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Mostly because I did not know that function existed. Good catch!
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👍 Looks good to me. |
jslee02
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Nov 11, 2015
API for utilizing Analytical IK
jslee02
added a commit
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this pull request
Nov 14, 2015
API for utilizing Analytical IK
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This pull request introduces an API for creating and utilizing analytical inverse kinematics modules into the IK framework that was created in #461 .
It should be noted that implementing an analytical IK solver for a particular robot is up to the user; the role of this API is to allow user-created analytical solvers to be plugged into the framework in an efficient and semantically meaningful way.