Is there a best tool for implementing an augmented Jacobian in C++?
I'm trying to code a robot-specific inverse kinematics algorithm. I wanted to use KDL to compute forward kinematics, and implement Jacobians, but KDL's Jacobian solvers seem to only create a standard 6-row Jacobian, and I don't see a way to add a row.
Is there an easy way to do this in KDL, Eigen, or MoveIt?
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