[CoMPS-users] Using ikfast solvers instead of GeneralIK

[Robert E. <rwe...@gm...>]

Hi All,
   I've recently been able to create ikfast closed-form solvers for my
robot model (openHubo <https://github.com/daslrobotics/openHubo>), but I'm
not sure how to specify that they should be used in a CBiRRT problem.  I
didn't see specific options in the "RunCBiRRT" command other than *
bikfastsinglesolution*, which only seems to control when collision checking
occurs.  I have successfully loaded the ikfast solver for each of the limbs
in OpenRAVE, but when I run a CBiRRT probloem, the debug output still shows
that a GeneralIK solver is loaded. This is consistent with line 106 of
cbirrtproblem.cpp:

_pIkSolver = RaveCreateIkSolver(GetEnv(),"GeneralIK");
_pIkSolver->Init(robot->GetActiveManipulator());
RAVELOG_INFO("IKsolver initialized\n");

It looks like GeneralIK is always loaded, just in case it's needed during
the problem.

Is there a way to ensure the problem is using ikfast solvers instead of
GeneralIK?

Thanks!

-- 
*Robert Ellenberg, PhD Candidate*
Drexel University
3141 Chestnut St.
2-115 MEM Office
Philadelphia, PA 19104
215-895-6125 (office)
215-285-3551 (cell)