MPlib icon indicating copy to clipboard operation
MPlib copied to clipboard
verified publisher icon haosulab

Investigate Continuous Joint

Open Lexseal opened this issue 2 years ago • 1 comments

Does it work and how is represented?

Lexseal avatar Nov 21 '23 23:11 Lexseal

Yes, it does work in OMPL. The SO2 object correctly represents the joint rotation. If we were to support this in constrained planning, then it is indeed possible to have two numbers $u, v$ to represent the angle and make sure $arccos(u)=arcsin(v)$ as a secondary constraint.

Lexseal avatar Dec 08 '23 21:12 Lexseal