FRIMode class improvements

ahundt / grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

https://ahundt.github.io/grl/

BSD 2-Clause "Simplified" License

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FRIMode class improvements #126

Closed ahundt closed 7 years ago

ahundt commented 7 years ago

This makes some improvements to the FRIMode class and simplifies user code, but it is still a bit hacky. For some reason if the FRI session isn't initialized on the first wait() call, subsequent wait calls have no effect and the app needs to be restarted. Maybe this is a kuka bug?

Nonetheless this API is a bit simpler than it was before, although further refinement is needed.

tdinesh commented 7 years ago

Can you fix the conflict so I can test. Thanks!

ahundt commented 7 years ago

I actually haven't run commanding via FRI successfully with these changes so I don't recommend using this pull request yet.