Re: IKFast and joint limits

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Re: IKFast and joint limits

Rosen Diankov
Administrator
hi antons,

yes, this is correct. generated ikfast doesn't not take into account
joint limits. although in the future, i've been thinking of adding a
function that allows users to set joint limits. in either case, i'm
against the idea of hardcoding joint limits.

perhaps we can see a 2-3x increase in speed with early rejection, but
the generated ik solver is already very fast, so i doubt anyone will
notice ;0)

rosen,

2010/6/8 Antons Rebguns <[hidden email]>:
> Hi Rosen,
>
> Just to confirm, does the generated IKFast code take the joint limits
> specified in the robot xml into account? From the discussion here on the
> mailing list it seems it does not, is that true?
>
> Thanks,
> Anton
>

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