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Update representation of links in the SerialLink class #24

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Merged
Woolfrey merged 13 commits into from
Feb 7, 2022
Merged

Update representation of links in the SerialLink class #24

Woolfrey merged 13 commits into from
Feb 7, 2022

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@ssutjipto ssutjipto commented Feb 7, 2022

Brief Summary of Changes

  • Rather than using Link objects to represent links and joints for a serial link (e.g. robotic manipulator), this has now been updated to using a series of Joint and RigidBody objects.
  • Users can now align the joints and links specfied in a URDF with Joint and RigidBody objects respectively

Tests that I've completed

  • Manually checked calculated kinematic and dynamic values between the new and devel branch
  • Manually checked calculated kinematic and dynamic values between the new branch and KDL

@ssutjipto ssutjipto requested a review from Woolfrey February 7, 2022 05:46
@ssutjipto ssutjipto added enhancement New feature or request help wanted Extra attention is needed labels Feb 7, 2022
@Woolfrey Woolfrey merged commit d3886b0 into devel Feb 7, 2022
@Woolfrey Woolfrey deleted the new branch February 8, 2022 14:44
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@Woolfrey Woolfrey Awaiting requested review from Woolfrey

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enhancement New feature or request help wanted Extra attention is needed

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@ssutjipto @Woolfrey