Enable TSR planning problem to decide which IK solver to use.

personalrobotics / aikido

Artificial Intelligence for Kinematics, Dynamics, and Optimization

https://personalrobotics.github.io/aikido/

BSD 3-Clause "New" or "Revised" License

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Enable TSR planning problem to decide which IK solver to use. #431

Open jslee02 opened 6 years ago

jslee02 commented 6 years ago

Currently, we always use a Jacobian based iterative solver of DART. It'd be great to enable to choose which IK solver to use and to change other useful parameters.

brianhou commented 6 years ago

Maybe we should be setting this at the Manipulator level?

jslee02 commented 6 years ago

Sounds good to me. We could use the IK information from a Manipulator and then use it when creating planning problems.