Modern Robotics: Mechanics, Planning, and Control Code Library --- The primary purpose of the provided software is to be easy to read and educational, reinforcing the concepts in the book. The code is optimized neither for efficiency nor robustness.
I think there is a bug in the IKinBody, and IKinSpace, in the calculation of Vb as TransInv(T) T,
shouldn't Vb matrix = TransInv(T) derivative(T)
T = [ R P; 0 1], while derivative(T) = [ d(R) v; 0 0], the they can't equal each others, the space implementation exist in the three languages!
Hi, I don't think there's a bug. we use the numerical algorithm described in Section 6.2.2 of the textbook.
Here we use the twist Vb to represent a motion, assuming it follows for unit time.
I think there is a bug in the IKinBody, and IKinSpace, in the calculation of Vb as TransInv(T) T, shouldn't Vb matrix = TransInv(T) derivative(T) T = [ R P; 0 1], while derivative(T) = [ d(R) v; 0 0], the they can't equal each others, the space implementation exist in the three languages!