Closed cmower closed 1 year ago
The end-effector pose and joint states q are related by the forward kinematics, represented by the homogenous transform
q
T(q) = [ x(q) | y(q) | z(q) | p(q) ] [ 0 0 0 1 ]
The jacobian of p(q) in an arbitrary base frame is the linear Jacobian matrix, implemented here:
p(q)
https://github.com/cmower/optas/blob/633aab3cde5cf6bc94054d1cdef8343d12f31c6d/optas/models.py#L710
It would be great to have similar functions for x, y, and z.
x
y
z
addressed in #61
The end-effector pose and joint states
q
are related by the forward kinematics, represented by the homogenous transformThe jacobian of
p(q)
in an arbitrary base frame is the linear Jacobian matrix, implemented here:https://github.com/cmower/optas/blob/633aab3cde5cf6bc94054d1cdef8343d12f31c6d/optas/models.py#L710
It would be great to have similar functions for
x
,y
, andz
.