-
Notifications
You must be signed in to change notification settings - Fork 70
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Target has an offset when setting chain_length #4
Comments
This does sound like a bug. Can you explain your setup a bit more in detail so I can try and reproduce it? Maybe even share relevant code? |
I uploaded the whole project in case the error is somewhere on my side. It's just a small project, where I tried to get familiar with your library. It creates a simple kinematic chain and the end-effector should follow the cursor position. The relevant file is the KChain.cpp. I set up the solver in line 25-48 (the ik.init already happended in the Application constructor). The method solveIK (line 75-82) is called once per frame. The effector->chain_length is set in line 42. If I delete this line or set it to number of joints or number of joints -1, everything works fine. The error occures when I set it to number of joints -2 or smaller (in the current example 4 or smaller). |
When I set the effector->chain_length to something smaller than number of nodes-2, the solution has a constant offset to my specified effector->target_position. And this offset gets bigger with smaller chain_lengths.
Am I doing something wrong or is this a bug?
I am using the latest master branch.
The text was updated successfully, but these errors were encountered: