aikido

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As @aditya-vk @gilwoolee @siddhss5 and I discussed via Slack, `VectorFieldPlanner` often produces extremely dense spline trajectories with many knots. We currently don't have a great way to postprocess these dense...

brianhou

Segmentation Fault if passing nullptr as testable in planToEndEffectorOffset

1

When calling `aikido::robot::util::planToEndEffectorOffset(metaSpace, metaSkeleton, bodyNode, direction, dart_testable, distance, planningTimeout, posTolerance, angleTolerance, vfParams)`, if set `dart-testable = nullptr`, would get a segmentation fault.

Kelym

Unlike `cloneRNGsFrom()`, we might use `cloneRNGFrom` to clone a single RNG. However, using this function is a bit inconvenient because it returns a one-element `std::vector`. I think it would make...

jslee02

For example: ```markdown AIKIDO makes heavy use of C++11 and require a modern compiler. In addition, AIKIDO requires the following dependenies for basic functionality: - [CMake], version 2.8.12 or above...

aditya-vk

This seems useful across all robots.

gilwoolee

It seems like there are some basic hand functions that we can support via a ConcreteHand class.

gilwoolee

Clean the `constraint` namespace files

1

1. Inconsistencies in conventions. 2. `const`-correctness. Shall be taken up after Planner API is successfully refactored. See the branch `constCorrectnessAndFormatting` for ongoing work.

aditya-vk

https://github.com/personalrobotics/aikido/pull/314#discussion_r187201251

jslee02

Enable TSR planning problem to decide which IK solver to use.

2

Currently, we always use a Jacobian based iterative solver of DART. It'd be great to enable to choose which IK solver to use and to change other useful parameters.

jslee02

https://github.com/personalrobotics/aikido/pull/432#discussion_r190137939

jslee02