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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

Chain Constraint #334

Closed danbarla closed 2 years ago

danbarla commented 2 years ago

This PR adds the chain constraint as a GTSAM Expression for a 3 link kinematic chain. In testChain.cpp I have a new test using Equality Constraints.

danbarla commented 2 years ago

@yetongumich Your review will be highly appreciated :)

danbarla commented 2 years ago

@dellaert Ready for review

dellaert commented 2 years ago

@varunagrawal why are you modifying (and merging) other people's PRs? It can be disruptive and confusing, and perhaps at odds with plans of author :-) Please communicate, e.g. by commenting rather than this intrusive way of "communicating".

varunagrawal commented 2 years ago

Sorry about that. The CI failure was because of the boost format so I figured I'd make Dan's life a bit easier.

danbarla commented 2 years ago

Apparently you need this line at the top or you get a compile ambiguity error with boost and std: #define BOOST_BIND_NO_PLACEHOLDERS

ok to merge?

dellaert commented 2 years ago

ok to merge?

go for it!