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From Create_a_Fast_IK_Solution, it mentioned ikfastdemo.cpp for testing the generated IKfast code. It needs a little bit fix to workaround compile errors.

Here's its usage:

./compute ik 0.794 0 0.415 1 0 0 0
Found 2 ik solutions:
sol0 (free=0): -0.000000000000003, 0.117857486686850, -0.235590643741151, -0.000000000000026, 0.117733157054301, 0.000000000000026, 
sol1 (free=0): -0.000000000000003, 0.117857486686850, -0.235590643741151, 3.141592653589767, -0.117733157054301, -3.141592653589767,

./compute fk 0 0 0 0 0 0
Found fk solution for end frame: 
Translation:  x: 0.794000  y: 0.000000  z: 0.415000  
     Rotation     1.000000   0.000000   0.000000  
       Matrix:    0.000000   1.000000   -0.000000  
                  0.000000   0.000000   1.000000  
 Euler angles: 
       Yaw:   0.000000    (1st: rotation around vertical blue Z-axis in ROS Rviz) 
       Pitch: 0.000000  
       Roll:  -0.000000  
  Quaternion:  1.000000   0.000000   0.000000   0.000000   
               1.000000 + 0.00000i + 0.00000j + 0.00000k   (alternate convention)