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SNS-IK velocity solvers should inherit from KDL::ChainIkSolverVel #80

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MatthewPeterKelly opened this issue Jun 8, 2018 · 0 comments
Open

SNS-IK velocity solvers should inherit from KDL::ChainIkSolverVel #80

MatthewPeterKelly opened this issue Jun 8, 2018 · 0 comments
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enhancement

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@MatthewPeterKelly
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It would be great if we made the SNS-IK velocity solvers inherit from the KDL::ChainIkSolverVel class. This would then allow us to pass any of our velocity solvers to the KDL::ChainIkSolverPos_NR position solver, and the KDL::ChainIkSolverPos_NR_JL position solver.
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