Add constraints to final pose output

ros-industrial-attic / reuleaux

GSoC Project for robot reachability

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Add constraints to final pose output #31

Open akgoins opened 8 years ago

akgoins commented 8 years ago

[ ] Add bounding box that will constrain the output base location. Constraint should allow for "inside bounding box" for selecting a specific region, and "outside bounding box" for excluding the work cell.
[ ] Add orientation constraint to eliminate final base locations that are not within a given constraint (X degrees from vertical, etc.)

Kaushik093 commented 2 years ago

How do I introduce constraints and check if a given pose is reachable or not?

jontromanab commented 2 years ago

@Kaushik093 This reuleaux version is not designed in such way where you can search for a specific pose for reachability. For checking reachability for a specific pose, you can just ran it by your ik solver and it can provide you the output very easily.