Hi Robert,
thanks a lot for your reply and sorry for my late answer. You were completely
right regarding the seg faults: I was not careful enough but now the problem
seems to be solved. Nevertheless, I was more wondering what the best way to
switch from a forward to an inverse kinematic chain
HI Stephane,
If you are getting sef faults then it's likely an issue with either
dangling pointers or threading. I have no idea what the problem might be
in your case, but in general I'd encourage you to look a the OSG's support
for smart pointers and reference counting, lots has been written on
Dear all,
I'm still struggling with this problem. I've tried a few new things but the
result is not satisfactory:
- I tried to do a dynamic re-parenting by changing the scene graph after each
connection and disconnection but the script tends to become unstable after a
while (segfault errors).
Hi Stéphane,
I think if you invert the matrices when you are doing backward kinematics,
you can keep the same scenegraph structure. For example, when the end
effector is attached, you have the transform from P3 to P2 but you have P2
ipo P2, so the inverse of the transform you have is
Dear OSG users,
I've been using OSG since quite some time now but I'm facing a problem for
which I was not able to find a good solution. I both searched on the forum and
googled my problem but with no luck so far.
Since my overall setup is a bit complicated, I'm going to use here a
Stéphane Bonardi wrote on 2012-09-19:
Since my overall setup is a bit complicated, I'm going to use here a
simplified version to explain what I'm trying to achieve. Imagine that I
try to create and animate a robotic arm with three degrees of freedom
(articulations): I create a scene graph
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