Todo List

Class constrained_ik::Constrained_IK

Remove calcNullspaceProjection function and rename calcNullspaceProjectionTheRightWay to calcNullspaceProjection

Member constrained_ik::Constrained_IK::rangedAngle (double angle)

Should be moved to the utils class

Member constrained_ik::constraints::GoalOrientation::calcAngle (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)

This should be moved to the utils class

Member constrained_ik::constraints::GoalOrientation::calcAngleError (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)

This should be moved to the utils class

Class constrained_ik::constraints::GoalPose

This should not be a ConstraintGroup because it has to calculate a jacobian twice.

Member constrained_ik::constraints::GoalPosition::calcDistance (const Eigen::Affine3d &p1, const Eigen::Affine3d &p2)

This should be moved to the utils class

Class constrained_ik::constraints::GoalZeroJVel

Need to fix this constraint, it does not appear to be fully implemented.

Class constrained_ik::constraints::JointVelLimits

Need to make the joint velocity limit configurable

This class should be renamed to AvoidJointVelLimits

Class constrained_ik::constraints::ToolPosition

This class should be renamed to GoolToolPosition