Open hongkai-dai opened 5 years ago
Is it OK if we can support this functionality? We found that the solver performance can benefit greatly from constraint sparsity (see https://github.com/RobotLocomotion/drake/pull/21492#pullrequestreview-2086168608 with a factor of 6 improvement). Very often in inverse kinematics, the constraint only depend on a partial set of the joints.
FYI this is easily supported in the new MbP topology code. Let me see if I understand the request:
Is that correct? The MbP topology code already has an API for finding A but doesn't currently return the paths.
It would be great if we have a function in
MBP
, to return all the joints on the kinematics chains from one link to another link. This function is useful for imposing the sparsity structure in Jacobian matrix computation.