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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Adds the ability to set velocity solver in SNS_IK #13

Closed rethink-imcmahon closed 8 years ago

rethink-imcmahon commented 8 years ago

Prior to this commit, one one need to set the velocity solver manually. This introduces the public setVelocitySolveType() function for creating and changing velocity solvers from the SNS_IK class' public interface.

I also created some forward declarations to prevent unnecessary linking of velocity solver headers that aren't being used in the client's code.

rethink-forrest commented 8 years ago

I'll merge in these changes since they look good. Will you update ik_tests.cpp to take try the different velocity solvers?