Matthew Kelly
Matthew Kelly
The SNS-IK library has a Matlab implementation. At this point, the Matlab code is intended for debugging and for doing basic algorithm testing before implementing the production version in C++....
It would be great if we made the SNS-IK velocity solvers inherit from the KDL::ChainIkSolverVel class. This would then allow us to pass any of our velocity solvers to the...
The unit test for the SNS optimal velocity IK solver is failing. The test is new, but works on all of the other solvers. It is likely that there is...
The position IK solver works by using gradient descent combined with a barrier function. It would be great if we had some sort of technical reference to go over this...
There are several old branches in this repository. We need to do some triage: - preserve and document branches with useful content - remove any branches that are merged or...
All functions and classes in the library are currently part of the public API, although many are intended to be for internal use only. We should decide what will be...
The velocity-IK solver implementation currently supports only joint-space secondary tasks, although the algorithm is able to handle task-space secondary tasks. It would be great to implement this feature from the...
One key feature in `OptimTraj` is the ability to compare different collocation methods. There is currently support for Hermite--Simpson collocation and trapezoidal collocation, as well as 4th-Order Runge--Kutta multiple shooting....
As of now, TrajOpt can only solve single-phase trajectory optimization problems. The extension to multiple-phase problems isn't too hard, but it does require a bit of restructuring of the code...
Right now the input validation will not warn you if there is an unused field in the options struct. This results in a problem when you make a typo in...