Type: | module |
---|---|
Plugin: | ikfastsolvers |
Interface Author: | |
Rosen Diankov |
Allows dynamic loading and registering of ikfast shared objects to openrave plugins. Also contains several test routines for inverse kinematics.
Dynamically adds an ik solver to openrave by loading a shared object (based on ikfast code generation). Usage:
AddIkLibrary iksolvername iklibrarypath
return the type of inverse kinematics solver (IkParamterization::Type)
Function used for debugging and testing an IK solver. Input parameters are:
Dynamically calls the inversekinematics.py script to generate an ik solver for a robot, or to load an existing one Usage:
LoadIKFastSolver robotname iktype_id [free increment]
return nothing, but does call the SetIKSolver for the robot
Times the ik call of a given library. Usage:
PerfTiming [options] iklibrarypath
return the set of time measurements made in nano-seconds