Many algo requires IK solvers. We can used specialized libraries or hand-made ones for more flexibility. In both cases, this feature is needed for future development.
In theory, the solver is independent from the robot. I would propose to have the Ik solver in a separate class similarly to the KDL philosophy since they only share the kinematic data structure.
grizzi
commented
4 years ago
Many algo requires IK solvers. We can used specialized libraries or hand-made ones for more flexibility. In both cases, this feature is needed for future development.
In theory, the solver is independent from the robot. I would propose to have the Ik solver in a separate class similarly to the KDL philosophy since they only share the kinematic data structure.