|
|
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| 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 | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Wolfgang Merkt
- Vladimir Ivan
Authors
Changelog for package exotica_ik_solver
6.2.0 (2021-07-23)
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
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
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | exotica_core |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| exotica | github-ipab-slmc-exotica | |
| exotica_examples | github-ipab-slmc-exotica |
Launch files
Messages
Services
Plugins
Recent questions tagged exotica_ik_solver at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| 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 | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status | Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Wolfgang Merkt
- Vladimir Ivan
Authors
Changelog for package exotica_ik_solver
6.2.0 (2021-07-23)
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
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
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | exotica_core |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| exotica | github-ipab-slmc-exotica | |
| exotica_examples | github-ipab-slmc-exotica |
Launch files
Messages
Services
Plugins
Recent questions tagged exotica_ik_solver at Robotics Stack Exchange
|
|
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| 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 | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Wolfgang Merkt
- Vladimir Ivan
Authors
Changelog for package exotica_ik_solver
6.2.0 (2021-07-23)
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
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
Package Dependencies
| Deps | Name | |
|---|---|---|
| 1 | catkin | |
| 1 | exotica_core |
System Dependencies
Dependant Packages
| Name | Repo | Deps |
|---|---|---|
| exotica | github-ipab-slmc-exotica | |
| exotica_examples | github-ipab-slmc-exotica |