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roboticslibrary / rl

The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
https://www.roboticslibrary.org/
BSD 2-Clause "Simplified" License
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How to compute a cartesian path? #84

Open akjay opened 8 months ago

akjay commented 8 months ago

Is there a function to compute a cartesian path like moveit --computeCartesianPath().

rickertm commented 8 months ago

You can calculate a joint configuration for a goal pose via one of the IK solvers in rl::mdl, but the currently included path planning algorithms do not restrict the robot's motion to a Cartesian path if that is what you are looking for. In particular the RRT planners can be extended to restrict the robot's motion given specified constraints, but this will limit the planner's overall performance.

You can take a look at the included EET planner implementation, that uses workspace information and the robot's Jacobian matrix to step toward Cartesian positions as part of its exploitation phase.

akjay commented 8 months ago

Thank you.I will try to make a cartesian path planner by inherit from rl::plan::planner