Perform kinematics in the TCP frame - Githubissues

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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Perform kinematics in the TCP frame #141

Closed PeterBowman closed 6 years ago

PeterBowman commented 6 years ago

Fixes #136.

Notable changes in the ICartesianSolver interface:

ICartesianControl::reference_frame enumerator types have been moved to the solver interface. Now, ICartesianControl.h includes ICartesianSolver.h.
diffInvKin and diffInvKinEE have been merged. This method accepts a reference frame.
invKin accepts a reference frame.
fwdKinError has been repurposed into poseDiff. Now, it has no knowledge about the robot state.
New method: changeOrigin.