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ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
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Closest Joint Pose Implementation #43

Open jrgnicho opened 9 years ago

jrgnicho commented 9 years ago

The CartTrajectoryPt::getClosestJointPose(...) methods needs to be implemented in order to address the sparse planner implementation discussed in issue #37.

jrgnicho commented 9 years ago

Current implementation in #44 only works for simple cases. A more generalized implementation (perhaps quaternion based approach) is needed

shaun-edwards commented 9 years ago

This issue still continues to be a problem. Current implementations do not generalize to a fast method for the CartesianPt base class. This is partly due to translation and rotation representation and specifically continuity of representation. A potential solution to this may be the Dual-Quaternions representation. See references below: