[OpenRAVE-users] IK Solution

[Sajjad T. E. <tor...@gm...>]

Dear All,

I generated inverse kinematics cpp code for the left foot of NAO and want
to get the Ik solutions in this case:
eerot[0] = 1; eerot[1] = 0; eerot[2] = 0; eerot[3] = 0; eerot[4] = 1;
eerot[5] = 0; eerot[6] = 0; eerot[7] = 0; eerot[8] = 1;
eetrans[0] = 1; eetrans[1] = 1; eetrans[2] = 1;
As you see, to test the code I set the matrices in a simple case, though
there should be no change in the position of the foot.

But, there is a major problem! As I run the code, I get:
Returns the ik solutions given the transformation of the end effector
specified by
a 3x3 rotation R (rXX), and a 3x1 translation (tX).
There are 0 free parameters that have to be specified.
And the code doesn't pass the first if statement. I don't know what to do
and will be grateful if you can help me deal with that.

Best Regards
Sajjad Torabian