Robots/YouBot/lua_YouBotKinematics.cpp
// Take in a desired position, and the current joints
// TODO: Should find with minimal end effector change...?
// Should have just a transform?
Take in a desired position, and the current joints
TODO: Should find with minimal end effector change....
Take in a desired position and the current joints TODO : Should find with minimal end effector change ....
static int lua_inverse_arm_position_only(lua_State *L) {
	std::vector<double> qArm;
	char is_reach_back;
	std::vector<double> pos = lua_checkvector(L, 1);
	std::vector<double> qArm0 = lua_checkvector(L, 2);
  qArm = YouBot_kinematics_inverse_arm_position(pos, qArm0, is_reach_back );
	lua_pushvector(L, qArm);
	lua_pushnumber(L, is_reach_back);
	return 2;
}
static int lua_inverse_arm_position_only ( lua_State * L ) { std :: vector < double > qArm ; char is_reach_back ; std :: vector < double > pos = lua_checkvector ( L , 1 ) ; std :: vector < double > qArm0 = lua_checkvector ( L , 2 ) ; qArm = YouBot_kinematics_inverse_arm_position ( pos , qArm0 , is_reach_back ) ; lua_pushvector ( L , qArm ) ; lua_pushnumber ( L , is_reach_back ) ; return 2 ; }
Take in a desired position, and the current joints
TODO: Should find with minimal end effector change...?
Take in a desired position and the current joints TODO : Should find with minimal end effector change ... ?