SV IK updates #2
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Shows error between FK and IK with body rotation not zero. And alpha may not be as expected. Still working on it.
Mistakenly squared parameters previously. IK working now for alpha = 0 and +-45 at 30 deg. roll pitch OR yaw (haven't tested combinations), but some alpha angles break calculation (e.g., alpha > 50).
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TODO would still be to cleanup the old commented code. |
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I believe I've resolved the issues we were experiencing. I had mistakenly squared the parameters going into the calculation of angle beta, fixed now. IK seems to be working now, I tested a variety of reachable points and body rotations, though I think the solution we've chosen is not always the best (e.g., when the foot is close to or above the body).