I was going through the iTaSC documentation and code, when I found iTaSC's
IK solver WDLSPriorVelSolver.
I'm curious. Is it planned or possible to move/port this solver to KDL to
make it easier to use it in other contexts?
If not, do you think it is difficult to do that, e.g. is it closely link to
other parts in the iTaSC framework?
I'm wondering if it could work with KDL::Chain and KDL::Tree structures.
My idea is to use it to create a kinematics plugin for our robot in ROS.
Again, thanks for the information!