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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

Feature/PandaIKFast #309

Closed Joobz closed 2 years ago

Joobz commented 2 years ago

Created folder pandarobot (in the style of cablerobot), which has the generated ikfast cpp file for the Panda robot, its header file and a wrapper so it can be easily used. There are also unittests for two wrapped functions (FK and IK). The wrapper is not yet adapted to the GT types.

dellaert commented 2 years ago

Also check naming conventions of files and definitely format the non-generated files with Google style

Joobz commented 2 years ago

Just solved the comments, going to request a review (@dellaert ) again just in case. I didn't merge yet to leave all the pandaIKFast related things in this PR, since there are nearly no changes from the previous commit.

dellaert commented 2 years ago

Woo hoo, congrats on your first PR merge!