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borglab / GTDynamics

Full kinodynamics constraints for arbitrary robot configurations with factor graphs.
BSD 2-Clause "Simplified" License
39 stars 10 forks source link

Joint Measurement Factor #280

Closed varunagrawal closed 2 years ago

varunagrawal commented 2 years ago

This PR adds a new LinkPoseFactor to relate the poses of the parent and child links of a joint given the joint coordinate as a measurement.

This is in contrast to the PoseFactor which takes the joint coordinate as a value.

varunagrawal commented 2 years ago

The tests will pass once we merge the pending PR in gtwrap.

varunagrawal commented 2 years ago

CI is failing because we are using the GTSAM version of wrap. I've opened a PR for updating the wrapper on GTSAM.