calculate inverse velocities with a KDL::tree

Submitted by threelight on Wed, 2008-07-16 13:19

is it possible to apply KDL::ChainIkSolverVel_pinv::CartToJnt to a KDL::tree?

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Ruben Smits's picture

calculate inverse velocities with a KDL::tree

Submitted by Ruben Smits on Wed, 2008-07-16 13:50.

On Wednesday 16 July 2008 15:19:24 threelight wrote:
> is it possible to apply KDL::ChainIkSolverVel_pinv::CartToJnt to a
> KDL::tree?

As the name of the class explains, the class can only be used on Chains not on
trees. At the moment we do not yet have solvers for trees. The forward
kinematic solvers are quite straight forward, the inverse kinematics not so
much.

Ruben

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