Re: [OpenRAVE-users] IK Solution
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From: Rosen D. <ros...@gm...> - 2012-10-30 07:24:37
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dear Sajjad, sorry for the late response. we highly recommend you use the ikfast solvers through openrave rather than the raw C++ file generated. as you can see, it can get very confusing with which coordinate system you are working with. openrave makes this simple and it comes with a viewer to verify your inputs. you can see from this example that it isn't a lot of code: http://openrave.org/docs/latest_stable/tutorials/openravepy_examples/#inverse-kinematics-transform6d rosen, 2012/10/30 Sajjad Torabian Esfahani <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 > > ------------------------------------------------------------------------------ > Everyone hates slow websites. So do we. > Make your web apps faster with AppDynamics > Download AppDynamics Lite for free today: > http://p.sf.net/sfu/appdyn_sfd2d_oct > _______________________________________________ > Openrave-users mailing list > Ope...@li... > https://lists.sourceforge.net/lists/listinfo/openrave-users > |