sns_ik

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It would be great if we made the SNS-IK velocity solvers inherit from the KDL::ChainIkSolverVel class. This would then allow us to pass any of our velocity solvers to the...

MatthewPeterKelly

The unit test for the SNS optimal velocity IK solver is failing. The test is new, but works on all of the other solvers. It is likely that there is...

MatthewPeterKelly

Standardize Usage / Interface for raw and smart pointer usage

3

Right now pointers are both raw and shared. We should choose one (preferably shared) and stick with it. Additionally, we should consistently return shared pointers rather than passing them in...

IanTheEngineer

- Simplify configuration parameters - Document interface and options for external users - General code clean-up

rethink-forrest

Add technical reference for the position IK solver

1

The position IK solver works by using gradient descent combined with a barrier function. It would be great if we had some sort of technical reference to go over this...

MatthewPeterKelly

Clean-up old branches in repo

1

There are several old branches in this repository. We need to do some triage: - preserve and document branches with useful content - remove any branches that are merged or...

MatthewPeterKelly

Document and enforce public vs private API

1

All functions and classes in the library are currently part of the public API, although many are intended to be for internal use only. We should decide what will be...

MatthewPeterKelly

The velocity-IK solver implementation currently supports only joint-space secondary tasks, although the algorithm is able to handle task-space secondary tasks. It would be great to implement this feature from the...

MatthewPeterKelly

sns_ik_examples failing to build on Kinetic

2

http://build.ros.org/view/Kbin_uX64/job/Kbin_uX64__sns_ik_examples__ubuntu_xenial_amd64__binary/42/console ```23:23:46 [100%] Linking CXX executable devel/lib/sns_ik_examples/all_ik_tests 23:23:46 /usr/bin/cmake -E cmake_link_script CMakeFiles/all_ik_tests.dir/link.txt --verbose=1 23:23:46 /usr/lib/ccache/x86_64-linux-gnu-g++ -std=c++11 -O2 CMakeFiles/all_ik_tests.dir/src/ik_tests.cpp.o -o devel/lib/sns_ik_examples/all_ik_tests -rdynamic /opt/ros/kinetic/lib/libsns_ik.so /opt/ros/kinetic/lib/liborocos-kdl.so.1.3.0 /opt/ros/kinetic/lib/libroscpp.so -lboost_filesystem -lboost_signals /opt/ros/kinetic/lib/librosconsole.so /opt/ros/kinetic/lib/librosconsole_log4cxx.so /opt/ros/kinetic/lib/librosconsole_backend_interface.so -llog4cxx...

tfoote

I'm having trouble getting a good stack trace here. But I believe SNS core dumps when too few DOF are specified in the kinematic chain. ``` /usr/include/eigen3/Eigen/src/Core/Block.h:148: Eigen::Block::Block(XprType&, Eigen::Index, Eigen::Index,...

IanTheEngineer