Is there a best tool for implementing an augmented Jacobian in C++?

asked 2020-04-30 16:27:03 -0500

jdcarp19 gravatar image

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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