Robotawi

GSoC 2023 Project Summary: pick_ik - Inverse Kinematics Solver for MoveIt

Project Overview

The objective of my GSoC 2023 project was to enhance the capabilities of the pick_ik inverse kinematics (IK) solver for MoveIt. My work aimed to improve the solver's documentation, provide benchmarks for performance evaluation, and extend the solver's feature set.

Accomplishments

Official pick_ik Tutorial I added an official tutorial for pick_ik to the MoveIt 2 Tutorials repository. This tutorial serves as a guide for users to effectively utilize pick_ik for their IK-solving needs. A pre-configured demo was added in the tutorial to facilitate experimenting with the new pick_ik solver.

Robotawi

#include <stdio.h>

// This gist summarizes the content of the C language Handbook https://thevalleyofcode.pages.dev/c-handbook.pdf 
// The order of the following topics is according to their appearance in the book 

int main(int argc, char *argv[])
{
    printf("Printed messages are of the format\n");
    printf("------------------------------\n");
    printf("Topic: related knowledge or example\n");

Robotawi

Linux and Bash

Lets talk about Linux and Bash.

Notes

Notes were taken from edx.org of LFS101x Introduction to Linux.

Date: Sun Sep 28 00:30:48 EDT 2014

Robotawi

// A simple quickref for Eigen. Add anything that's missing.
// Main author: Keir Mierle

#include <Eigen/Dense>

Matrix<double, 3, 3> A;               // Fixed rows and cols. Same as Matrix3d.
Matrix<double, 3, Dynamic> B;         // Fixed rows, dynamic cols.
Matrix<double, Dynamic, Dynamic> C;   // Full dynamic. Same as MatrixXd.
Matrix<double, 3, 3, RowMajor> E;     // Row major; default is column-major.
Matrix3f P, Q, R;                     // 3x3 float matrix.