Markus Rickert

A shape has to match the underlying engine, i.e., for a Bullet scene/model/body you also have to create a Bullet shape, either via the `rl::sg::bullet::Shape` constructor or via the `create(SoVRMLShape*)`...

The iterative IK algorithms start with the current configuration specified via setPosition() in the given rl::mdl::Kinematic model. They will retry from a randomly generated configuration in case they get stuck...

Even with an initial guess provided via `setPosition()`, both iterative solvers will keep retrying with random configurations as starting point until the given duration or iteration limits have been reached....

The initial guess is the starting value for the iterative solvers and the solutions adhere to the specified boundary conditions. In particular for NLopt's SLSQP, you can only influence the...

The segmentation fault is caused by the shared pointer for the `new_frame_fixed_link_` object. The `rl::mdl::Model::add` functions reset the internal shared pointer in the tree structure with the provided pointer, therefore...

A function for the interpolation between several waypoints requires multiple polynomials, therefore the respective static functions in the class `rl::math::Spline` are required. `rl::math::Spline::CubicFirst` and `rl::math::Spline::CubicNatural` define a cubic spline interpolation,...

RL currently does not include any software for automatically generating model files. It does however include parsers for URDF files for kinematic (rl::mdl::UrdfFactory) and geometric (rl::sg::UrdfFactory) models, so you should...

The values in the operational widget refer to the operational position and orientation of the robot's end effector in world coordinates. In order to specify changes in the tool frame,...

I think packaging RL would be quite interesting for a lot of users. We have spent some effort in adding missing dependencies in MSYS2 or vcpkg and there is a...

Thank you for the feedback, a new tagged version is indeed long overdue. We'll try to focus on that in the next few weeks.