library for solving ik for robotics
Latest commit 7e444c0 Jun 22, 2011 Kirill Vostrecov Deleted warnings, added proto for ccd and solution file
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Example fixed example Jun 22, 2011
contrib Alpha version Jun 21, 2011
src Alpha version Jun 21, 2011
CAlgoAbstract.h Deleted warnings, added proto for ccd and solution file Jun 22, 2011
CAlgoFactory.cpp Alpha version Jun 21, 2011
CAlgoFactory.h Alpha version Jun 21, 2011
CConfigLoader.cpp Alpha version Jun 21, 2011
CConfigLoader.h Alpha version Jun 21, 2011
CDumpedLeastSquares.cpp Deleted warnings, added proto for ccd and solution file Jun 22, 2011
CDumpedLeastSquares.h Alpha version Jun 21, 2011
CJacobian.cpp Alpha version Jun 21, 2011
CJacobian.h Alpha version Jun 21, 2011
CJacobianPseudoInverse.cpp Deleted warnings, added proto for ccd and solution file Jun 22, 2011
CJacobianPseudoInverse.h Alpha version Jun 21, 2011
CJacobianTranspose.cpp Deleted warnings, added proto for ccd and solution file Jun 22, 2011
CJacobianTranspose.h Alpha version Jun 21, 2011
CJoint.cpp Alpha version Jun 21, 2011
CJoint.h Alpha version Jun 21, 2011
CLineFactory.cpp Alpha version Jun 21, 2011
CLineFactory.h Alpha version Jun 21, 2011
CLink.cpp Alpha version Jun 21, 2011
CLink.h Alpha version Jun 21, 2011
CMatrixFactory.cpp Alpha version Jun 21, 2011
CMatrixFactory.h Alpha version Jun 21, 2011
CRobot.cpp Alpha version Jun 21, 2011
CRobot.h Alpha version Jun 21, 2011
JacobianTypes.h Alpha version Jun 21, 2011
README no message Jun 22, 2011
RobotTypes.h Alpha version Jun 21, 2011
SharedTypes.h Alpha version Jun 21, 2011
config.h Deleted warnings, added proto for ccd and solution file Jun 22, 2011
lexer.cpp Alpha version Jun 21, 2011
lexer.h Alpha version Jun 21, 2011
robotdesc.sln Deleted warnings, added proto for ccd and solution file Jun 22, 2011
robotdesc.vcproj Deleted warnings, added proto for ccd and solution file Jun 22, 2011
sigslot.h Alpha version Jun 21, 2011
testApp.cpp Alpha version Jun 21, 2011

README

This program loads xml that describes robot in DH parameters and able 
to solve IK problem.

Solvers:
Jacobian Transpose
Jacobian Pseudoinverse
DLS

TODO:
Add CCD  solver
Add SDLD solver
Add path and trajectory planner