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Add inverse kinematics using updated optimizer interface #154
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Minor change: - Lower xtol for nlopt solver
…ransform() Add BodyNode::fitLinearVel() and BodyNode::fitAngularVel()
When the linear velocity is being fitted, angular velocity is fixed and vice versa.
jslee02
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Mar 17, 2014
Add basic inverse kinematics functions
This was referenced Apr 19, 2020
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Add inverse kinematics for
BodyNode
. The main functionality is implemented to: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: