This is the function that calls to Roboop Algorithm from the ComputeQ
function of eeDHcontroller driver
q = robot_IK.inv_kin (result, 1, dof, converged);
and the values returned are not rigth.
////////////////////////////////////////////////////////////////////////////////
// Compute the joint commands using IK
int
EEDHController::ComputeQ (unsigned int dof,
double x, double y, double z,
double roll, double pitch, double yaw,
ColumnVector &q)
{
// Position/Orientation of the end effector
Matrix result (4, 4);
// Set the orientation
ColumnVector orient (3);
orient (3) = roll;
orient (2) = pitch;
orient (1) = yaw;
result = rpy (orient);
result (1, 4) = x;
result (2, 4) = y;
result (3, 4) = z;
// Call RoboOp's inv_kin
bool converged;
q = robot_IK.inv_kin (result, 1, dof, converged);
if (q.is_zero () && !converged)
return (1);
return (0);
}

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