aikido
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personalrobotics
Artificial Intelligence for Kinematics, Dynamics, and Optimization
During the review of https://github.com/personalrobotics/aikido/pull/567, the issue arose of when exactly we should add new components to AIKIDO. The logic in this PR is that a new component should be...
Referencing PR #570 . Currently, in the Travis build for OS X Mojave, the dependencies for dartsim need to be listed manually in the Brewfile. A mistake in this file...
Rather than maintaining two versions of our planning calls, we should deprecate https://github.com/personalrobotics/aikido/blob/master/src/robot/util.cpp in favor of the planner API.
Revisit `aikido/include/robot/*` to ensure const-correctness after the planner API is in place and is const-correct. --- - [x] https://github.com/personalrobotics/aikido/pull/314/files#diff-a65ad42402fcdc572aad061dc655cabfR21
comment: https://github.com/personalrobotics/aikido/pull/278#pullrequestreview-87581484
OMPL checks if the statespace is one of the native spaces and sets them up accordingly. Calls such as `copyToReals()` do not work with GeometricStateSpace when passed to OMPL planners...
We've now fixed all planning problems to hold `ScopedState` instead of raw state pointers. Unfortunately, we can't actually declare these `ScopedState`s to be `const` because of strange C++ typing issues....
Currently, - `Manipulator` inherits `Robot` - `ConcreteRobot` inherits `Robot` - `ConcreteManipulator` inherits `Manipulator` the only difference between `Manipulator` and `Robot` is that `Manipulator` has `getHand` class. I think above inheritance...
#546 adds a lengthy pattern that gets the inverse of a state before composing it. Instead we should have an inverse composition (i.e. subtraction) function implemented between states for brevity....
TrajectoryMarker (https://github.com/personalrobotics/aikido/blob/4270781ebfb5d735e21c0174a0b44dbe487bf9c8/include/aikido/rviz/TrajectoryMarker.hpp#L39) throws an `IsCompatible` error: https://github.com/personalrobotics/aikido/blob/4270781ebfb5d735e21c0174a0b44dbe487bf9c8/src/statespace/dart/MetaSkeletonStateSpace.cpp#L268 for the MetaSkeletonPtr
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Artificial Intelligence for Kinematics, Dynamics, and Optimization