Questions on KDL Tree extensions and hybrid dynamicsalg,
|Submitted by azamat on Wed, 2011-12-21 20:34|
after long testing, corrections and discussions with Herman Vereshchagin's hybrid dynamics algorithm
is ready to be used with serial chains.
My first question is how I could contribute it back? I could just send the current version I have to you.
Some parts (many not necessary comments, printfs) of it still need to be cleaned up.
I could write a short README explaining what changed to keep you updated.
The other question is related to this algorithm's extension to trees. Herman already confirmed theory behind it, so
I am working my way through KDL tree primitives to see how it could be done. Regarding this I had one
point, so far.
- What is the semantics of q_nr member in TreeElement. Does it describe the joint's number which is part of this element?
Since it gets assigned joint index number in Tree::addSegment, I was wondering about it.
- Another point of clarification, Tree primitive assumes that the joints at the root of branches are co-located.
Example: If tree branches of at segment L1 then the joints of branches at L1 tip are co-located.
Is it so?
Also, some docu is missing, but I would be glad to contribute. I could send you my notes.