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std::string actual_frame = frame.empty() ? this->robot_model_.frames.back().name : frame; |
It occurred to me that the inverse_kinematics and inverse_velocity accept any Cartesian positions/twist that have a name which is part of the model. However, there is no check that the reference frame of these Cartesian variables correspond with the base frame of the robot, which is the assumption.
Agree? @bpapaspyros @eeberhard
control-libraries/source/robot_model/src/Model.cpp
Line 429 in f40a64d
It occurred to me that the
inverse_kinematicsandinverse_velocityaccept any Cartesian positions/twist that have a name which is part of the model. However, there is no check that the reference frame of these Cartesian variables correspond with the base frame of the robot, which is the assumption.Agree? @bpapaspyros @eeberhard