Revision history [back]

hi gil,

that sounds great! currently there's two ways to do this:

1. compile the raw cpp file as a shared object (done automatically when calling ikfast) and load the shared object inside your packages. The functions defined for the shared objects are documented here:

http://openrave.org/en/main/openravepy/ikfast.html?highlight=ikfast#usage

1. load the COLLADA file through openrave and call the Robot.Manipulator.FindIKSolution function. The openrave manipulator objects define the base and end effector links and are required for ikfast to find the correct chain. All this can be achieved through C++ as shown in the following example:

http://openrave.org/en/coreapihtml/ikfastloader_8cpp-example.html

good luck!