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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
28 stars 5 forks source link

dont build casadi object at every inverse kinematics calls #14

Closed liquidcronos closed 3 years ago

liquidcronos commented 3 years ago

The execution speed of the inverse kinematics is hampered since it always first constructs a casadi representation of the virtual chain.

a fast inverse kinematics function could receive a already build casadi object as its input. This could significantly speed up the computation.

liquidcronos commented 3 years ago

This can be sold by solving #29