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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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No parameter for tips for openchain! #16

Closed TorbenMiller closed 3 years ago

TorbenMiller commented 3 years ago

Currently setState needs to be used to set tips for the open chain numerical solver. inverse_kinematics() should take tips as third argument

liquidcronos commented 3 years ago

first the robot model has to include the option to pass arguments to their corresponding group.

This would then allow sending closure equation tips.

liquidcronos commented 3 years ago

in the case of the inverse kinematic only the mapping from virtual to actuated joints is needed as an optional argument for the solver.

The solver can then simply call the pass_argument function of the robot