search

mi-lib / roki

RoKi - Robot Kinetics library
MIT License
12 stars 7 forks source link

Modification of rkIK for prioritized inverse kinematics/dynamics #30

Closed zhidao closed 1 month ago

zhidao commented 5 months ago

I'm planning to modify rkIK to implement prioritized inverse kinematics in the following way.

  1. add priority to rkIKCell.
  2. modify rkIKCellReg to apply the insertion sort to the cells in accordance with the priority.
  3. abolish RK_IK_ATTR_FORCE. I don't apply this idea so soon. Feel free to tell me if you have any concerns.
zhidao commented 1 month ago

Done. Now, the hierarchical prioritized inverse kinematics is available. Due to this extension, the prototypes of rkChainRegIKCell* have been changed. If you don't have any concerns about this, I'll close this issue.

zhidao commented 1 month ago

I found a bug in _rkChainIK() and fixed it.

zhidao commented 1 month ago

Let me close this issue.