Implement Limb Class to be used in RobotBase - Githubissues

KodlabPenn / kodlab_mjbots_sdk

Repo for kodlab SDK for use with mjbots ecosystem

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Implement Limb Class to be used in RobotBase #48

Open jdcaporale opened 2 years ago

jdcaporale commented 2 years ago

Need a limb class LimbBase that can be used by RobotBase First version:

Eigen:VectorXf ForwardKinematics( ... )
Eigen:MatrixXf Jacobian( ... )
Eigen:VectorXf InverseKinematics( ... )
struct LimbConfig
LimbConfig config
std::vector<std::shared_ptr<JointBase>> joints
virtual void Update()
helper functions and members
a clean 3DOF example

Future Versions:

std::vector<Eigen::Vector3f> jointFrames
Allow optimize of Jacobian and FK using jointFrames or upgrade to ValidatedCache
General FK, Jac, IK Test Functions?

Far Future?:

"upgrade" to DH parameters maybe
URDF?
anything else?