Added equality constraint to inverse kinematics#428
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kshaji3 wants to merge 1 commit into
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After further thought and consultation, I realized this is not really needed, and is not accomplishing what I intended for it to do. I think there are better ways to do what I wanted to do. |
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-Adds a hard equality constraint that forces the optimizer to find joint angles such that one (or multiple) equal a set value.
-Wrote a unit test that validates this approach.
TODO: add the ability for soft inequality constraints to be directly applied to inverse kinematics (ex. make a certain joint angle fall within a range).