Repository for ikfast files and reachability maps

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How to test ikfast file

in the ikfast_Test, ikfastdemo is provided. Build the demo by

g++ ikfastdemo.cpp -lstdc++ -llapack -o compute -lrt

run ./compute

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Test fk and ik

run an arbitary fk

./compute fk 0.1 0.2 0.3 0.4 0.5 0.6

see the results. It will show fk solution with Translation and Rotation of the ee link. Put them back in the ik to see the same fk results. An example result of fk:

Found fk solution for end frame:

Translation: x: 1.009253 y: 0.347347 z: -0.375207

 Rotation     0.208915   0.047396   -0.976785  
   Matrix:    0.902950   -0.392918   0.174058  
              -0.375547   -0.918351   -0.124882  

Euler angles: Yaw: -1.697957 (1st: rotation around vertical blue Z-axis in ROS Rviz) Pitch: 1.981232
Roll: 0.174949

Quaternion: -0.415666 0.657023 0.361611 -0.514568
-0.415666 + 0.657023i + 0.361611j - 0.514568k (alternate convention)

./compute ik 1.009253 0.347347 -0.375207 -0.415666 0.657023 0.361611 -0.514568

It will return couple of ik solutions. One of the results should be close to your provided fk