About

Credits

This project contains code based on other open source projects.

• UR kinematics: https://github.com/ros-industrial/universal_robot/blob/indigo-devel/ur_kinematics/src/ur_kin.cpp
• Spherical wrist kinematics: https://github.com/whitegreen/KinematikJava
• Matrix to Euler angles: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToEuler
• Matrix to axis angles: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToAngle
• Sphere from 4 surface points: http://stackoverflow.com/questions/13600739/calculate-centre-of-sphere-whose-surface-contains-4-points-c
• Proper lerp between orientations: http://www.grasshopper3d.com/group/lobster/forum/topics/lobster-reloaded