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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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Add planWithEndEffectorTwist #611

Open egordon opened 2 years ago

egordon commented 2 years ago

Currently, planToEndEffectorOffset functions only perform end-effector translations.

But the user may conceivably want to perform rotations as well.

There is an existing PR that is closed for now, but is fairly close to being done. https://github.com/personalrobotics/aikido/pull/545

egordon commented 1 year ago

Added #628 , which partially solves this issue.

The biggest thing that needs to be added is a true Twist function that allows for angles greater than PI.