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Published 20 hours ago • verified publisher icon petercorke

Collision model

Open aminya opened this issue 5 years ago • 1 comments

Can I define additional constraints on link variables (such as q2+q3<pi)?

Collision model is missing, how can I define it? https://github.com/petercorke/robotics-toolbox-matlab/blob/45e5a0b4544bf24b818ddc63aebb221a91dcb13a/%40SerialLink/collisions.m#L23

Collision model in pHRIWARE is not updated for 4 years. https://github.com/bryan91/pHRIWARE/blob/master/next/Classes/CollisionModel.m

aminya avatar Jul 21 '19 08:07 aminya

Constraints such as you suggest are not supported, but are by the underlying optimiser. You could ikcon().

Not updated doesn't mean you can't use it. Is there a specific issue?

petercorke avatar Aug 05 '19 21:08 petercorke