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383305e4

Commit 383305e4 authored 6 years ago by Mirko Wächter

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Merge branch 'IK-ConsiderJointLimit' into 'master'

extended CartesianVelocityController to consider joint limits

See merge request ArmarX/RobotAPI!43

parents 962b646f 69d53d06

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source/RobotAPI/libraries/core/CartesianVelocityController.cpp 64 additions, 7 deletions

...e/RobotAPI/libraries/core/CartesianVelocityController.cpp
source/RobotAPI/libraries/core/CartesianVelocityController.h 7 additions, 2 deletions

source/RobotAPI/libraries/core/CartesianVelocityController.h
source/RobotAPI/libraries/core/test/CartesianVelocityControllerTest.cpp 79 additions, 0 deletions

...I/libraries/core/test/CartesianVelocityControllerTest.cpp

with 150 additions and 9 deletions

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