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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Clean-up old branches in repo #67

Open MatthewPeterKelly opened 6 years ago

MatthewPeterKelly commented 6 years ago

There are several old branches in this repository. We need to do some triage:

rethink-forrest commented 6 years ago

I was actually in the middle of deleting some old branch from past pull request. After that, there are 4 branches other than master left:

dynamic-step Branch was created by Fabrizio to look having a dynamic step size in the sns_position_ik class. I tried something similar but don't remember seeing a huge improvement in the solve success rate. Might be worth looking at again. He also add two functions to the FSNS class, but it's unclear exactly what they are for.

kinetic-devel Branch to support ROS Kinetic. Managed by Ian. Should be updated for new releases.

minimum_jnts Ian still has an open pull request to merge this into master, #51. I guess I owe him a review from two years ago, though the branch will need to be rebased off of master first.

svd_tests I'm not sure what this branch was created for. @IanTheEngineer, do you have any idea?