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How can I use the iksolver.cpp

asked 2014-05-03 05:46:32 -0500

Bastbeat gravatar image

I generated the file to calculate the inverseKinematics with IKFast. How can I use this file, to solve the IK from a cpp in ROS? I can not find anything about that. I'm using the solver TranslationDirection5D

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I tried to compile the cpp anyway, to test it. And when I run it, it shows an error. Usage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ... input: ./compute2 0 0 0 1 0 0 0 1 0 0 0 1 output: Failed to get ik solution

Bastbeat gravatar image Bastbeat  ( 2014-05-03 05:51:11 -0500 )edit

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answered 2014-05-04 07:49:32 -0500

Bastbeat gravatar image

The orientation never can be "0 0 0" in all the cases. The correct input should be (for example): ./compute2 1 0 0 0.1 0 1 0 0.2 0 0 1 0.3

And you can use the generated iksolver.cpp, using it like a normal include. Respect to the use, there is a great example: ikfastdemo.cpp: https://github.com/davetcoleman/clam/...

There you can find many ways to use the solver (IK, FK...)

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It still doesn't work..

JarvisRobot gravatar image JarvisRobot  ( 2017-07-24 06:49:29 -0500 )edit

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Asked: 2014-05-03 05:46:32 -0500

Seen: 266 times

Last updated: May 04 '14