# Revision history [back]

1) If you look at the MoveIt! plugin that comes with TRAC-IK, you'll see how it parses the URDF to a KDL Chain, then pulls out the limits from the URDF and puts those into a vector then JntArray.

2) If you are hard coding all this without a URDF for some reason, a JntArray is easy to initialize and populate from an existing array.

KDL::JntArray a;
a.resize(6);
for(int i=0;i<6;i++)
a(i)=arr[i];


3) The timeout is actually in seconds (I need to fix that readme typo) so a reasonable timeout is usually 0.01 or even 0.005.

4) I've been meaning to add an example test program to the package but I'm recovering from hand surgery, so typing is not my strong suit right now (only one hand), but I'll try to get that added. If you like this, please add an Issue on Bitbucket.

Also feel free to email me using the link on the bottom of the trac-ik Bitbucket page for further discussions.

1) If you look at the MoveIt! plugin that comes with TRAC-IK, you'll see how it parses the URDF to a KDL Chain, then pulls out the limits from the URDF and puts those into a vector then JntArray.

2) If you are hard coding all this without a URDF for some reason, a JntArray is easy to initialize and populate from an existing array.

KDL::JntArray a;
a.resize(6);
for(int i=0;i<6;i++)
a(i)=arr[i];


3) The timeout is actually in seconds (I need to fix that readme typo) so a reasonable timeout is usually 0.01 or even 0.005.

4) TRACIK::Speed in an enumerated type in the TRACIK namespace saying that the MODE is to return as soon as any IK is found, There are other modes you can set. These should be in the tracik.h header and explained on the Bitbucket READMW.md.

5) I've been meaning to add an example test program to the package but I'm recovering from hand surgery, so typing is not my strong suit right now (only one hand), but I'll try to get that added. If you like this, please add an Issue on Bitbucket.

Also feel free to email me using the link on the bottom of the trac-ik Bitbucket page for further discussions.

1) If you look at the MoveIt! plugin that comes with TRAC-IK, you'll see how it parses the URDF to a KDL Chain, then pulls out the limits from the URDF and puts those into a vector then JntArray.

2) If you are hard coding all this without a URDF for some reason, a JntArray is easy to initialize and populate from an existing array.

KDL::JntArray a;
a.resize(6);
for(int i=0;i<6;i++)
a(i)=arr[i];


3) The timeout is actually in seconds (I need to fix that readme typo) so a reasonable timeout is usually 0.01 or even 0.005.

4) TRACIK::Speed in an enumerated type in the TRACIK namespace saying that the MODE is to return as soon as any IK is found, There are other modes you can set. These should be in the tracik.h header and explained on the Bitbucket READMW.md.

5) I've been meaning to add an example test program to the package but I'm recovering from hand surgery, so typing is not my strong suit right now (only one hand), but I'll try to get that added. added within a week. If you you'd like this, this sooner, please add an Issue on Bitbucket.

Also feel free to email me using the link on the bottom of the trac-ik Bitbucket page for further discussions.

1) If you look at the MoveIt! plugin that comes with TRAC-IK, you'll see how it parses the URDF to a KDL Chain, then pulls out the limits from the URDF and puts those into a vector then JntArray.

2) If you are hard coding all this without a URDF for some reason, a JntArray is easy to initialize and populate from an existing array.

KDL::JntArray a;
a.resize(6);
for(int i=0;i<6;i++)
a(i)=arr[i];


3) The timeout is actually in seconds (I need to fix that readme typo) so a reasonable timeout is usually 0.01 or even 0.005.

4) TRACIK::Speed in an enumerated type in the TRACIK namespace saying that the MODE is to return as soon as any IK is found, There are other modes you can set. These should be in the tracik.h header and explained on the Bitbucket READMW.md.README.md.

5) I've been meaning to add an example test program to the package but I'm recovering from hand surgery, so typing is not my strong suit right now (only one hand), but I'll try to get that added within a week. few weeks. If you'd like this sooner, please add an Issue on Bitbucket.

Also feel free to email me using the link on the bottom of the trac-ik Bitbucket page for further discussions.

1) If you look at v1.3.9 of trac_ik now has a constructor that takes the MoveIt! plugin that comes with TRAC-IK, you'll see how it parses base_link name, tip_link name, and rosparam location of the URDF to a KDL Chain, then pulls out the limits from (typically "/robot_description") and handles the URDF and puts those parsing into a vector then JntArray.KDL for you.

2) If you are hard coding all this without a URDF for some reason, a JntArray is easy to initialize and populate from an existing array.

KDL::JntArray a;
a.resize(6);
for(int i=0;i<6;i++)
a(i)=arr[i];


3) The timeout is actually in seconds (I need to fix that readme typo) so a reasonable timeout is usually 0.01 or even 0.005.

4) TRACIK::Speed TRAC_IK::Speed in an enumerated type in the TRACIK TRAC_IK namespace saying that the MODE is to return as soon as any IK is found, There are other modes you can set. These should be in the tracik.h trac_ik.h header and explained on the Bitbucket README.md.

5) I've been meaning to add an example test program to the package but I'm recovering from hand surgery, so typing is not my strong suit right now (only one hand), but I'll try to get that added within a few weeks. If you'd like this sooner, please add an Issue on Bitbucket.

Also feel free to email me using the link on the bottom of the trac-ik Bitbucket page for further discussions.