Changing chains in KDL
|Submitted by snrkiwi on Mon, 2012-04-09 11:31|
There is no support in KDL (v1) for changing a chain, once created, particularly changing the final segment's frame to support tool modifications/changes. It looks like the chain and each of the solver classes would all require the ability to update the frame within a segment of a chain. More extensive than I was hoping for.
How have others solved this? Are you just taking the potential real-time hit and reallocating new chains and solvers? Or do you simply not have changeable tools installed?