aikido

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Builds on top of #614. Adds corresponding controller operations (load, start, stop) to the executors operations (register, activate, deactivate). Corresponding hardware mode switching takes place if a joint mode controller...

RKJenamani

Add VisualServoingVelocityExecutor class

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Adds a class built on top of the JacobianVelocityExecutor (See #605) to follow some arbitrary externally perceived transformation. This class has been tested with Unit Tests only. *** **Before creating...

egordon

Adds JacobianExecutor

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Wraps any VelocityExecutor to convert an end-effector SE(3) velocity command into joint velocity commands. Prerequisite: #602 *** **Before creating a pull request** - [x] Document new methods and classes -...

egordon

Add non-trajectory executors to Robot Class

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Previously, only a single TrajectoryExecutor was accessible from the Robot class. This PR adds the functionality to have the Robot class manage multiple executors of arbitrary type (with convenience methods...

egordon

There are a few key issues with the RosJointStateClient: https://github.com/personalrobotics/aikido/blob/master/src/control/ros/RosJointStateClient.cpp (1) There's no reason to lock the mSkeleton mutex in spin, since we don't read or write from it at...

egordon

The URDF format does not support cycles in the Joint Tree (for example, 4- or 5-bar linkages). Instead, the kinematics/dynamics of these relationships are specified using the `` joint declaration,...

RKJenamani

Add planWithEndEffectorTwist

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Currently, planToEndEffectorOffset functions only perform end-effector translations. But the user may conceivably want to perform rotations as well. There is an existing PR that is closed for now, but is...

egordon

Add planner_dart component for DART planners

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This PR creates `planner_dart` component and builds all DART planners as `planner_dart` component. *** **Before creating a pull request** - [x] Document new methods and classes - [x] Format code...

gilwoolee

Add SequenceConfigurationToConfigurationMetaPlanner

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This PR adds `SequenceConfigurationToConfigurationMetaPlanner`, in preparation for #467. SequenceConfigurationToConfigurationMetaPlanner takes a list of `ConfigurationToConfigurationPlanner` and use them in sequence to solve a `ConfigurationToConfiguration` problem. While a generic `SequenceMetaPlanner` can be...

gilwoolee

Use strongly-typed enum flags.

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> #339 might not be ideal because the "options" can be arbitrary ints, rather than combinations of the options that we actually enumerate. If that's a problem, maybe something like...

brianhou