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IK fast kinematics wrapper only works for Transform6D #605

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mpowelson opened this issue May 18, 2021 · 2 comments
Open

IK fast kinematics wrapper only works for Transform6D #605

mpowelson opened this issue May 18, 2021 · 2 comments
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enhancement New feature or request good first issue Good for newcomers

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@mpowelson
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ikfast_inv_kin.hpp calls ComputeIK which takes a couple of double*. Depending on what IK type it is, those have different meanings. See here. It looks like the generated code does have a GetIkType function, but I don't see a key for what those mean. I will say that my generated code for a Ray4D returns 0x46000005.

Fixing this should just require figuring out what the IK type ints mean and then adding a switch in ik_fast_kin.hpp to pass in the angle in the correct format.
@mpowelson mpowelson added enhancement New feature or request good first issue Good for newcomers labels May 18, 2021
@zark-zeugan
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I wish to help you solve this issue.
Could you direct me as to how I can get started?

@Levi-Armstrong
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I will take sometime and post my thoughts on how best to do this since this will also be part of the base interface. This is also related to issue #722.

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@Levi-Armstrong @mpowelson @zark-zeugan