On 3/2/2017 1:26 PM, Andrew wrote: > What this means for genserkins: everything is defined in genser_kin_fwd. > Tweaking it will tweak both forward and inverse kins. > > OK, first it uses go_link_joint_set for each joint and then > go_link_pose_build to get the robot pose... which uses go_pose_pose_mult to > build the pose from the first to the last joint. > So from the first look it seems that this method should output world AB > coordinates. Or it might output angles between the last pair of links? > Well now one just needs to figure it out... I'm not particularly good with > quaternions, which is exactly what is used in go_quat_quat_mult to > calculate pose.rot.
Thanks for the hints, it would have taken me quite a while to figure all that out. Now I'll start plugging in numbers and toggling between world and joint coordinates to see what's happening. ...maybe I'll even get brave and try to build the command-line version of genserkins to assist with debugging! :) -- Charles Steinkuehler [email protected]
signature.asc
Description: OpenPGP digital signature
------------------------------------------------------------------------------ Check out the vibrant tech community on one of the world's most engaging tech sites, SlashDot.org! http://sdm.link/slashdot
_______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
