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Perform kinematics in the TCP frame #141

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merged 23 commits into from
Feb 10, 2018
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PeterBowman
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Fixes #136.

Notable changes in the ICartesianSolver interface:

  • ICartesianControl::reference_frame enumerator types have been moved to the solver interface. Now, ICartesianControl.h includes ICartesianSolver.h.
  • diffInvKin and diffInvKinEE have been merged. This method accepts a reference frame.
  • invKin accepts a reference frame.
  • fwdKinError has been repurposed into poseDiff. Now, it has no knowledge about the robot state.
  • New method: changeOrigin.

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@jgvictores jgvictores left a comment

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Really cool and useful!!

@jgvictores jgvictores merged commit 0fa54ca into develop Feb 10, 2018
@PeterBowman PeterBowman deleted the fix-136-solver-frames branch February 10, 2018 01:39
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2 participants