12 Commits

Author	SHA1	Message	Date
yunfeibai	0022d0dafb	Modify damped least square IK formulation. Test setting joint damping coefficients for IK.	2017-01-31 22:58:37 -08:00
yunfeibai	29f890ae10	Add desired null space velocity computation.	2016-09-29 22:45:31 -07:00
yunfeibai	0ee12475af	Add matrix inverse computation in BussIK.	2016-09-29 15:45:57 -07:00
erwin coumans	310a330572	fix InverseKinematics+API for a case without tree (custom build Jacobian)	2016-09-22 13:27:09 -07:00
yunfeibai	cbda64c5e7	Update theta dot for velocity IK.	2016-09-20 10:24:48 -07:00
yunfeibai	bf16c87987	Add orientation constraint to IK.	2016-09-19 17:04:05 -07:00
yunfeibai	a00841a498	Compute delta S from Bullet link state.	2016-09-10 19:18:29 -07:00
yunfeibai	c94a8e0d35	Use body Jacobian from Bullet for IK.	2016-09-07 23:14:23 -07:00
yunfeibai	c198029cb9	Expose body Jacobian in shared memory API.	2016-09-07 16:00:38 -07:00
Erwin Coumans	a30ff20e6b	preparation for KUKA IK tracking example	2016-08-30 14:44:11 -07:00
Erwin Coumans	53fa57bdc4	make IK compile on Mac OSX	2016-07-24 23:50:18 -07:00
erwin coumans	75e86051c2	Add inverse kinematics example with implementations by Sam Buss. ... Uses Kuka IIWA model description and 4 methods: Selectively Damped Least Squares,Damped Least Squares, Jacobi Transpose, Jacobi Pseudo Inverse Tweak some PD values in Inverse Dynamics example and Robot example.	2016-07-24 22:22:42 -07:00