changing manipulators
Locked
 
|
What is the preferred way to change manipulators “on the fly”? I thought you could pre-load them like this: left_arm = databases.inversekinematics.InverseKinematicsModel(robot, manip=robot.GetManipulator('left_arm')) left_arm.load(freeinc=0.01) right_arm = databases.inversekinematics.InverseKinematicsModel(robot, manip=robot.GetManipulator('right_arm')) right_arm.load(freeinc=0.01) then call these at any time: left_arm.manip.FindIKSolutions(…) right_arm.manip.FindIKSolutions(…) but it looks like only one ik database can be loaded at any time. Do I need to call load() every time when changing manipulators? Or can I still pre-load them somehow
then only change the active manipulator? Thanks, Ben Ben Axelrod Sr. Robotics Software Engineer iRobot Corporation 8 Crosby Drive, M/S 8-1 Bedford, MA 01730 (781) 430-3315 ------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
Administrator
|
I'm pretty sure it will keep the IK solvers for each manipulator pre-loaded. There's no reason why loading one manip would reset another. First check manip.GetIkSolver(). If it is really reset, put a gdb breakpoint on all the places that reset the iksolver (in robotmanipulator.cpp) and see which one gets called.2015-03-31 6:29 GMT+09:00 Axelrod, Ben <[hidden email]>:
------------------------------------------------------------------------------ Dive into the World of Parallel Programming The Go Parallel Website, sponsored by Intel and developed in partnership with Slashdot Media, is your hub for all things parallel software development, from weekly thought leadership blogs to news, videos, case studies, tutorials and more. Take a look and join the conversation now. http://goparallel.sourceforge.net/ _______________________________________________ Openrave-users mailing list [hidden email] https://lists.sourceforge.net/lists/listinfo/openrave-users |
| Free forum by Nabble | Edit this page |