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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Position IK #5

Closed rethink-forrest closed 8 years ago

rethink-forrest commented 8 years ago

This is the first pass at a position IK solver, but it hasn't been full tested with a real robot chain yet.

Requires KDL as a dependency.

rethink-forrest commented 8 years ago

Addressed Ian's comments. Now merging with master.

The position solver is not converging properly, which is the next step.