change inverse
@@ -104,7 +104,8 @@ void Chain::forward(OM_MANAGER::Manipulator *manipulator, Name component_name)
std::vector<float> Chain::inverse(OM_MANAGER::Manipulator *manipulator, Name tool_name, Pose target_pose)
{
- return positionOnlyInverseKinematics(manipulator, tool_name, target_pose);
+ // return positionOnlyInverseKinematics(manipulator, tool_name, target_pose);
+ return srInverseKinematics(manipulator, tool_name, target_pose);
}
std::vector<float> Chain::inverseKinematics(OM_MANAGER::Manipulator *manipulator, Name tool_name, Pose target_pose)
