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[KdlSolver] Alternative to LMA
The text was updated successfully, but these errors were encountered:
Something like:
#ifdef USE_LMA
Eigen::Matrix<double,6,1> L; L(0)=0.5;L(1)=0.5;L(2)=0.5; L(3)=0.05;L(4)=0.05;L(5)=0.05; //-- Main invKin (pos) solver lines KDL::ChainIkSolverPos_LMA inv_pos_solver(chain,L,1E-10,100000,1E-25); inv_pos_solver.CartToJnt(qGuessInRad,frameXd,kdlq);
#else //USE_LMA
//Forward solvers, needed by the geometric solver KDL::ChainFkSolverPos_recursive fksolver(chain); KDL::ChainIkSolverVel_pinv iksolver(chain); // _givens //Geometric solver definition (with joint limits) KDL::ChainIkSolverPos_NR_JL inv_pos_solver(chain,q_min,q_max,fksolver,iksolver,100000,1E-15); inv_pos_solver.CartToJnt(qGuessInRad,frameXd,kdlq);
#endif //USE_LMA
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Done at 96a62f3.
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[KdlSolver] Alternative to LMA
The text was updated successfully, but these errors were encountered: