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Add support for Joint ranges #20

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liquidcronos opened this issue Jul 23, 2021 · 1 comment
Open

Add support for Joint ranges #20

liquidcronos opened this issue Jul 23, 2021 · 1 comment
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enhancement New feature or request new feature

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@liquidcronos
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currently all joints have a infinite range.
For each virtual and actuated state it should be possible to specify their working range.

The inverse kinematics solver should observe these ranges using constraints.
(This can be done with opti.subject_to)

Additionally it should not be possible to set a state value that is not within its range
@liquidcronos liquidcronos added the enhancement New feature or request label Jul 23, 2021
@liquidcronos
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Since virtual joints are subject to complex constrains created by the closed chain it is not sufficient to specify the range for each state separately. Instead a multidimensional jant space has to be defined where the vector of Joint values has to remain.

@liquidcronos liquidcronos mentioned this issue Sep 8, 2021
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liquidcronos added a commit that referenced this issue Mar 25, 2022
@liquidcronos
added CCD solver into tests in preparation for #20 and fullfilment of #…
0f67fea 
…17
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