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fix an inverse kinematics bug #60

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fix an inverse kinematics bug #60

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10 changes: 5 additions & 5 deletions cisstRobot/code/robManipulator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -451,11 +451,6 @@ robManipulator::InverseKinematics( vctDynamicVector<double>& q,
// Evaluate the spatial Jacobian (also evaluate the forward kin)
JacobianSpatial( q );

// compute the translation error
vctFixedSizeVector<double,3> dt( Rts[0][3]-Rt[0][3],
Rts[1][3]-Rt[1][3],
Rts[2][3]-Rt[2][3] );

// compute the orientation error
// first build the [ n o a ] vectors
vctFixedSizeVector<double,3> n1( Rt[0][0], Rt[1][0], Rt[2][0] );
Expand All @@ -468,6 +463,11 @@ robManipulator::InverseKinematics( vctDynamicVector<double>& q,
// This is the orientation error
vctFixedSizeVector<double,3> dr = 0.5*( (n1%n2) + (o1%o2) + (a1%a2) );

// compute the translation error
vctFixedSizeVector<double,3> dt( Rts[0][3]-Rt[0][3]-Rt[2][3]*dr[1]+Rt[1][3]*dr[2],
Rts[1][3]-Rt[1][3]+Rt[2][3]*dr[0]-Rt[0][3]*dr[2],
Rts[2][3]-Rt[2][3]-Rt[1][3]*dr[0]+Rt[0][3]*dr[1]);

// combine both errors in one R^6 vector
doublereal e[6] = { dt[0], dt[1], dt[2], dr[0], dr[1], dr[2] };

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