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PickNikRobotics / bio_ik

MoveIt kinematics_base plugin based on particle optimization & GA
BSD 3-Clause "New" or "Revised" License
13 stars 9 forks source link

Add ability to consume KinematicsBase::IKCostFn as a goal. Update dep… #6

Closed wyattrees closed 2 years ago

wyattrees commented 2 years ago

This PR adds the ability to consume a generic cost function as implemented by MoveIt as a Goal type. Also included here: