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TriPed-Robot / trip_kinematics

Python package for inverse kinematic calculations of hybrid serial parallel robots
https://trip-kinematics.readthedocs.io/en/main/
MIT License
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Casadi object generation in seperate function #13

Closed liquidcronos closed 3 years ago

liquidcronos commented 3 years ago

The inverse kinematics first constructs a functional representation of the endeffector position. This should be abstracted to its own function which return a presentation of the full homogeneous transformation.

It could then be used to implement different kinematics and planning algorithms

liquidcronos commented 3 years ago

a time test should be set up to determine if this yields faster results.

liquidcronos commented 3 years ago

fixed in commit b32a1907e4a796d6fd23b9a7a1c5bbff4b896ef5