From 719dcc9ac34f2add78742df4b03f54c01f711dc4 Mon Sep 17 00:00:00 2001 From: Derek Witcpalek Date: Sun, 26 Apr 2020 12:48:42 -0400 Subject: [PATCH] Function signature changed to allow forward kinematics to calculate any joint's pose --- src/rrrobot_ws/src/rrrobot/include/arm_representation.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/rrrobot_ws/src/rrrobot/include/arm_representation.h b/src/rrrobot_ws/src/rrrobot/include/arm_representation.h index 56ac021..6dc4a37 100644 --- a/src/rrrobot_ws/src/rrrobot/include/arm_representation.h +++ b/src/rrrobot_ws/src/rrrobot/include/arm_representation.h @@ -41,7 +41,7 @@ class ArmRepresentation public: ArmRepresentation(const KDL::Frame &base_pose = KDL::Frame(KDL::Rotation::Quaternion(0, 0, 0, 1), KDL::Vector(0.3, 0.92, 0.9))); //KDL::Frame(KDL::Vector(0.3, 0.92, 1))); - int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose); + int calculateForwardKinematics(const KDL::JntArray &joint_positions, KDL::Frame &end_effector_pose, int joint_nbr = -1); int calculateInverseKinematics(const KDL::JntArray &cur_configuration, const KDL::Frame &desired_end_effector_pose,