katana_driver: katana | katana_arm_gazebo | katana_arm_kinematics_constraint_aware | katana_arm_navigation | katana_description | katana_gazebo_plugins | katana_joint_movement_adapter | katana_msgs | katana_openrave_kinematics | katana_openrave_test | katana_teleop | katana_trajectory_filter | katana_tutorials | kni | kurtana_description

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Package Summary

This node provides the get_constraint_aware_ik service. It just strips away all the constraint aware stuff and calls a normal (non-constraint aware) get_ik service instead.

Normally, get_constraint_aware_ik checks the space of potential IK solutions (from get_ik) for a solution that obeys all constraints (i.e., a solution that is not in self-collision or in collision with the environment). That only really makes sense for a redundant (>6 DoF) robot arm. Since the Katana only has 5 DoF, we only get at most one IK solution, so there is nothing to filter.

If we return a solution that violates constraints - for instance, that is in self-collision - then move_arm will abort with an error code. But if the solution is valid, everything should work.

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  1. Package Summary

Wiki: katana_arm_kinematics_constraint_aware (last edited 2011-04-15 14:48:59 by MartinGuenther)

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