Re: [Emc-developers] Building a new C++ kinematics module

[Frank T. <fr...@fr...>]

> ikfast got my attention recently and I looked for someone who could help 
> me make custom kinematics for 6 axis articulated robot. Can I ask you to 
> help find the way to do it with ikfast?

It was your discussion that got me interested in ikfast.

I don't think it is going to be simple.  I've got a small 4DoF arm.  I
managed to get the Translate3D iktype working in simulation mode.  Getting
it to work in realtime mode is probably going to require rewriting the
generated ikfast C++ module into C as Michael suggested.

After I got the Translate3D working, I tried TranslationXAxisAngle4D.  This
is failing, I think because it allocates an array of double[24][24][23]
(106k) plus another couple of huge arrays defined on the stack.  I get a
compiler warning...

warning: the frame size of 117088 bytes is larger than 2560 bytes
[-Wframe-larger-than=]

 which I think is corrupting the stack.  I don't know where this 2560 limit
is defined.

I did manage to get it working by changing the code and making the large
arrays static, but it's not the right way to do it.

Frank