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stephane-caron / pink

Python inverse kinematics based on Pinocchio
Apache License 2.0
169 stars 11 forks source link

General linear holonomic task on tangent space using lie algebra representation #55

Closed ymontmarin closed 1 year ago

ymontmarin commented 1 year ago

PR following the peer coding of 07/06/2023.

Generalize LinearHolonomicTask to:

$$e(q) = A (q \ominus^\ell q_0) - b$$

ymontmarin commented 1 year ago

@stephane-caron I think it is now ready ! Thanks for the opportunity to contribute :)

stephane-caron commented 1 year ago

Awesome, thanks @ymontmarin for this neat contribution :star_struck: