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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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First pass at adding nullspace bias tasks for the velocity and position solvers. #23

Closed rethink-forrest closed 8 years ago

rethink-forrest commented 8 years ago

Added a secondary task to push the IK solutions toward a desired joint bias in the nullspace.

This has not been fully optimized, but I am pushing this for further testing and integration with the rest of the system. The velocity solver saw a time increase of ~40% while the position solvers time increased 2-3x. The IK solvers should be able to recognize tasks in the joint configuration space to reduce unnecessary matrix math operations. The nullspace bias changes were not pushed into the testing framework.

I'm am open to suggestions for improvements to the interfaces.

rethink-imcmahon commented 8 years ago

Once you make these changes, you have my :shipit: to merge

rethink-forrest commented 8 years ago

I've addressed the feedback from Ian and checked that it builds with stricter build warnings.