Implement tool-related methods in AsibotSolver

roboticslab-uc3m / kinematics-dynamics

Kinematics and dynamics solvers and controllers.

https://robots.uc3m.es/kinematics-dynamics/

GNU Lesser General Public License v2.1

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Implement tool-related methods in AsibotSolver #108

Closed PeterBowman closed 6 years ago

PeterBowman commented 7 years ago

That is:

[x] appendLink(const std::vector<double> &)
[x] restoreOriginalChain()

And add their corresponding unit tests in testAsibotSolverFromFile, too.

PeterBowman commented 6 years ago

appendLink and restoreOriginalChain could be implemented quite easily with the latest improvements, particularly #141. Dynamics are a different beast, and AmorCartesianControl also lacks an implementation of invDyn-related commands. I'm prone to leaving them out of this issue and tracking their development in a new ticket.

jgvictores commented 6 years ago

Dynamics are a different beast, and AmorCartesianControl also lacks an implementation of invDyn-related commands. I'm prone to leaving them out of this issue and tracking their development in a new ticket.

PeterBowman commented 6 years ago

Both overloads of the invDyn method have been moved to #142, description updated accordingly.

PeterBowman commented 6 years ago

Done at a12a9dd.