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Add inverse kinematics using updated optimizer interface #154

Merged
merged 15 commits into from
Mar 17, 2014
Merged

Add inverse kinematics using updated optimizer interface #154

merged 15 commits into from
Mar 17, 2014

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jslee02
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@jslee02 jslee02 commented Mar 16, 2014

Add inverse kinematics for BodyNode. The main functionality is implemented to:

void BodyNode::fitWorldTransform(...);
void BodyNode::fitWorldLinearVel(...);
void BodyNode::fitWorldAngularVel(...)

The functions try to find optimal joint states to fit body node's transformation (or linear/angular velocity). Each function solves nonlinear optimization problem using optimizer.

Not fully implemented but includes basic functionality which is essential to pass Gazebo's unit tests:

@jslee02 jslee02 added this to the Release DART 4.0 milestone Mar 16, 2014
jslee02 added a commit that referenced this pull request Mar 17, 2014
@jslee02
Merge pull request #154 from dartsim/inverse_kinematics
da8c096 
Add basic inverse kinematics functions
@jslee02 jslee02 merged commit da8c096 into optimizer Mar 17, 2014
@jslee02 jslee02 deleted the inverse_kinematics branch March 27, 2014 08:00
This was referenced Apr 19, 2020
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