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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
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PoseFactor with joint angles as measurements #270

Closed varunagrawal closed 2 years ago

varunagrawal commented 2 years ago

The current PoseFactor accepts 3 keys, parent_link, child_link and joint_angle. This implies that we are optimizing for the underlying joint angles rather than using them as known measurements.

We should have a factor similar to PoseFactor (e.g. LinkPoseFactor) that takes the joint angle as a measurement.