From 5c1a657c04fdb495d49cf670ecba436f8713dbba Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sun, 29 Jan 2023 14:23:08 +0100
Subject: [PATCH] DiffIK / Jacobian: adding cases & todos
---
VirtualRobot/IK/DifferentialIK.cpp | 13 +++++++++++++
1 file changed, 13 insertions(+)
diff --git a/VirtualRobot/IK/DifferentialIK.cpp b/VirtualRobot/IK/DifferentialIK.cpp
index 39d4ee310..6ed0eb838 100644
--- a/VirtualRobot/IK/DifferentialIK.cpp
+++ b/VirtualRobot/IK/DifferentialIK.cpp
@@ -6,6 +6,8 @@
#include "../Nodes/RobotNodeRevolute.h"
#include "../VirtualRobotException.h"
#include "../CollisionDetection/CollisionChecker.h"
+#include "Nodes/RobotNodeFourBar.h"
+#include "Nodes/RobotNodeHemisphere.h"
#include <Eigen/Geometry>
@@ -443,6 +445,17 @@ namespace VirtualRobot
// no orientation part required with prismatic joints
}
+ else if (dof->isHemisphereJoint())
+ {
+ const RobotNodeHemisphere* hemisphere = dynamic_cast<RobotNodeHemisphere*>(dof.get());
+ // FIXME implement
+ }
+ else if (dof->isFourBarJoint())
+ {
+ const RobotNodeFourBar* fourBarJoint = dynamic_cast<RobotNodeFourBar*>(dof.get());
+ // FIXME implement
+ }
+
}
#ifdef CHECK_PERFORMANCE
--
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