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Package Summary

Tags No category tags.
Version 6.0.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipab-slmc/exotica.git
VCS Type git
VCS Version master
Last Updated 2021-01-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Regularised and weighted pseudo-inverse unconstrained end-pose solver

Additional Links

Maintainers

  • Wolfgang Merkt
  • Vladimir Ivan

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ik_solver

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

  • CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
  • Re-wrote the IK solver as regularised, weighted pseudo-inverse Re-wrote the IK solver from scratch: - It now implements a regularised and weighted Jacobian pseudo-inverse instead of solving a linear system. - The support for NominalState regularisation by appending a nominal state to the error vector was removed. - Adaptive regularisation and backtracking line-search result in better convergence and numerical behaviour. - Use of pre-allocation and Cholesky decomposition makes the solver fast :-). - MaxStep for interactive IK is still supported, however, only when MaxIterations == 1.

    • example_ik now converges in 5 iterations, previously 41.
  • Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

  • A variety of small code improvements
  • Contributors: Christian Rauch, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ik_solver at answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipab-slmc/exotica.git
VCS Type git
VCS Version master
Last Updated 2021-01-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Regularised and weighted pseudo-inverse unconstrained end-pose solver

Additional Links

Maintainers

  • Wolfgang Merkt
  • Vladimir Ivan

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ik_solver

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

  • CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
  • Re-wrote the IK solver as regularised, weighted pseudo-inverse Re-wrote the IK solver from scratch: - It now implements a regularised and weighted Jacobian pseudo-inverse instead of solving a linear system. - The support for NominalState regularisation by appending a nominal state to the error vector was removed. - Adaptive regularisation and backtracking line-search result in better convergence and numerical behaviour. - Use of pre-allocation and Cholesky decomposition makes the solver fast :-). - MaxStep for interactive IK is still supported, however, only when MaxIterations == 1.

    • example_ik now converges in 5 iterations, previously 41.
  • Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

  • A variety of small code improvements
  • Contributors: Christian Rauch, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ik_solver at answers.ros.org

Package Summary

Tags No category tags.
Version 6.0.2
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/ipab-slmc/exotica.git
VCS Type git
VCS Version master
Last Updated 2021-01-06
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Regularised and weighted pseudo-inverse unconstrained end-pose solver

Additional Links

Maintainers

  • Wolfgang Merkt
  • Vladimir Ivan

Authors

No additional authors.
README
No README found. See repository README.
CHANGELOG

Changelog for package exotica_ik_solver

6.0.2 (2020-11-23)

6.0.1 (2020-11-17)

6.0.0 (2020-11-08)

  • CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
  • Re-wrote the IK solver as regularised, weighted pseudo-inverse Re-wrote the IK solver from scratch: - It now implements a regularised and weighted Jacobian pseudo-inverse instead of solving a linear system. - The support for NominalState regularisation by appending a nominal state to the error vector was removed. - Adaptive regularisation and backtracking line-search result in better convergence and numerical behaviour. - Use of pre-allocation and Cholesky decomposition makes the solver fast :-). - MaxStep for interactive IK is still supported, however, only when MaxIterations == 1.

    • example_ik now converges in 5 iterations, previously 41.
  • Contributors: Vladimir Ivan, Wolfgang Merkt

5.1.3 (2020-02-13)

5.1.2 (2020-02-10)

5.1.1 (2020-02-10)

5.1.0 (2020-01-31)

  • A variety of small code improvements
  • Contributors: Christian Rauch, Wolfgang Merkt

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

Recent questions tagged exotica_ik_solver at answers.ros.org

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