WristMechanism includes inverse and forward kinematics, as well as calibration functions for the wrist. More...
#include "robodyn_mechanisms/WristMechanism.h"#include "nasa_common_logging/Logger.h"#include <Eigen/LU>
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Detailed Description
WristMechanism includes inverse and forward kinematics, as well as calibration functions for the wrist.
- Note:
- The values in a0 in old code also did not match the values in slides. If there are issues with the new inverse kinematics, try changing the vector or the param file
- I also changed fwd kinematics from a lookup table to computation. If fwd kinematics proves to be slow, try reverting to a lookup table.
Definition in file WristMechanism.cpp.