ROS IndexNo version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
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Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Regularised and weighted pseudo-inverse unconstrained end-pose solver
Additional Links
Maintainers
- Wolfgang Merkt
- Vladimir Ivan
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_ik_solver
6.2.0 (2021-07-23)
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Re-wrote the IK solver as regularised, weighted pseudo-inverse
Re-wrote the IK solver from scratch:
- It now implements a regularised and weighted Jacobian
pseudo-inverse instead of solving a linear system.
- The support for NominalState regularisation by appending a
nominal state to the error vector was removed.
- Adaptive regularisation and backtracking line-search result in
better convergence and numerical behaviour.
- Use of pre-allocation and Cholesky decomposition makes the solver
fast :-).
- MaxStep for interactive IK is still supported, however, only when
MaxIterations == 1.
- example_ik now converges in 5 iterations, previously 41.
- Contributors: Vladimir Ivan, Wolfgang Merkt
5.1.3 (2020-02-13)
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
- A variety of small code improvements
- Contributors: Christian Rauch, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| exotica_core |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged exotica_ik_solver at Robotics Stack Exchange
No version for distro galactic. Known supported distros are highlighted in the buttons above.
|
|
Package Summary
| Tags | No category tags. |
| Version | 6.2.0 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ipab-slmc/exotica.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2024-05-27 |
| Dev Status | DEVELOPED |
| CI status |
|
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Regularised and weighted pseudo-inverse unconstrained end-pose solver
Additional Links
Maintainers
- Wolfgang Merkt
- Vladimir Ivan
Authors
No additional authors.
README
No README found.
See repository README.
CHANGELOG
Changelog for package exotica_ik_solver
6.2.0 (2021-07-23)
6.1.1 (2021-04-05)
6.1.0 (2021-03-15)
6.0.2 (2020-11-23)
6.0.1 (2020-11-17)
6.0.0 (2020-11-08)
- CMakeLists: Upgrade minimum version to 3.0.2 to avoid CMP0048
- Re-wrote the IK solver as regularised, weighted pseudo-inverse
Re-wrote the IK solver from scratch:
- It now implements a regularised and weighted Jacobian
pseudo-inverse instead of solving a linear system.
- The support for NominalState regularisation by appending a
nominal state to the error vector was removed.
- Adaptive regularisation and backtracking line-search result in
better convergence and numerical behaviour.
- Use of pre-allocation and Cholesky decomposition makes the solver
fast :-).
- MaxStep for interactive IK is still supported, however, only when
MaxIterations == 1.
- example_ik now converges in 5 iterations, previously 41.
- Contributors: Vladimir Ivan, Wolfgang Merkt
5.1.3 (2020-02-13)
5.1.2 (2020-02-10)
5.1.1 (2020-02-10)
5.1.0 (2020-01-31)
- A variety of small code improvements
- Contributors: Christian Rauch, Wolfgang Merkt
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| catkin | |
| exotica_core |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| exotica | |
| exotica_examples |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found