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In Getting Started with Descartes, it assumes the end effector is at upward direction. However, my manipulator is initialized with a horizontal pose, like this.
How to move the end effector to upward direction with Descartes API?
I found a solution here: How to specify trajectory points with 6D pose?
The method is to specify a {X, Y, Z} position with Orientation vector. Here's the code snippet:
using namespace Eigen;
Matrix3d m;
m = AngleAxisd(0, Vector3d::UnitX())
* AngleAxisd(-M_PI/2, Vector3d::UnitY())
* AngleAxisd(0, Vector3d::UnitZ());
pose.linear() = m;
Asked: 2016-02-24 05:20:50 -0500
Seen: 305 times
Last updated: Feb 24 '16
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