Add T_flange and T_base optional fields to the Robot class that contain the transform from the world origin to the base of the robot, and a T_flange transform between the end of the P,H kinematic chain and R_tool,p_tool tool transform. These transforms are important when the robot exists in a larger system with the robot not at the world origin, and when there is a separate tool attached to a flange that is not at identity with the end of the P,H chain.
Adds utility functions apply_robot_aux_transforms() and unapply_robot_aux_transforms() to assist with adding and removing auxiliary frames from a transform.
Add
T_flangeandT_baseoptional fields to the Robot class that contain the transform from the world origin to the base of the robot, and aT_flangetransform between the end of theP,Hkinematic chain andR_tool,p_tooltool transform. These transforms are important when the robot exists in a larger system with the robot not at the world origin, and when there is a separate tool attached to a flange that is not at identity with the end of theP,Hchain.Adds utility functions
apply_robot_aux_transforms()andunapply_robot_aux_transforms()to assist with adding and removing auxiliary frames from a transform.Updates kinematics functions to use aux frames.