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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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Extract and import ASIBOT's analytical cartesian solver from asibot-main repo #96

Closed PeterBowman closed 7 years ago

PeterBowman commented 7 years ago

Currently implemented as a yarp::dev::ICartesianControl (path), should be stripped from any control loops and repurposed as a teo::ICartesianSolver.

Full migration plan: roboticslab-uc3m/asibot-main#28.

PeterBowman commented 7 years ago

WIP at the asibot-cartesian-solver branch.

PeterBowman commented 7 years ago

Just wanted to note that there are some conversion operations left in CartesianServerLib/xCallbackPort.cpp at which I'd like to take a look.

PeterBowman commented 7 years ago

CartesianBot implements tool tip calculations, but we lack a proper interface. Perhaps blocked until #95 is resolved?

jgvictores commented 7 years ago

CartesianBot implements tool tip calculations, but we lack a proper interface. Perhaps blocked until #95 is resolved?

Yes, I agree.

PeterBowman commented 7 years ago

The TrajGen.h library I've imported along with ASIBOT's solver could be easily replaced by KDL::VelocityProfile_Spline.

PeterBowman commented 7 years ago

Good enough at 974de24, follow-ups include:

I've left the TrajGen.hpp file mostly as is, but it does not intervene at all in the compilation process. It might be re-used as an alternative to current trajectory generators at BasicCartesianControl, which in turn would require more work than it was initially planned at here.