borglab / gpmp2

Gaussian Process Motion Planner 2

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Feature: Adding Modified Denavit–Hartenberg (DH) Parameterization of Manipulators #19

Closed mattking-smith closed 1 year ago

mattking-smith commented 1 year ago

Feature Purpose

This branch allows for users to specify if using conventional or modified Denavit-Hartenberg parameters when creating an arm object for motion planning.

Issues Resolved

Merging this branch will resolve issue #14.

Features Added

C++ unit test for Kinova Gen3 modified DH parameterization
MATLAB example with modified DH parameterization