From bc1ac7ecbdca09a50d9141ee2d64fade42ce858b Mon Sep 17 00:00:00 2001 From: Michael Ripperger Date: Fri, 29 Sep 2023 18:21:51 -0500 Subject: [PATCH] Updated links in README (#65) --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 75b93ee5..3e19dc8d 100644 --- a/README.md +++ b/README.md @@ -33,19 +33,19 @@ See the ROSCon 2019 [presentation](docs/roscon2019_presentation.pdf) and [video] The `reach` package also provides the interface definition for the required reach study functions: -1. [`TargetPoseGenerator`](reach/include/reach/interfaces/target_pose_generator.h) +1. [`TargetPoseGenerator`](include/reach/interfaces/target_pose_generator.h) - Generates Cartesian target poses that the robot should attempt to reach during the reach study - These target poses are expected to be relative to the kinematic base frame of the robot - The z-axis of the target poses is expected to oppose the z-axis of the robot kinematic tip frame -1. [`IKSolver`](reach/include/reach/interfaces/ik_solver.h) +1. [`IKSolver`](include/reach/interfaces/ik_solver.h) - Calculates the inverse kinematics solution for the robot at an input 6 degree-of-freedom Cartesian target -1. [`Evaluator`](reach/include/reach/interfaces/evaluator.h) +1. [`Evaluator`](include/reach/interfaces/evaluator.h) - Calculates a numerical "fitness" score of an IK solution (i.e., robot joint pose) at a given Cartesian target pose - Higher values indicate better reachability - Example numerical measures of reachability include manipulability, distance from closest collision, etc. -1. [`Display`](reach/include/reach/interfaces/display.h) +1. [`Display`](include/reach/interfaces/display.h) - Visualizes the robot/reach study environment, target Cartesian poses, IK solutions, and reach study results -1. [`Logger`](reach/include/reach/interfaces/logger.h) +1. [`Logger`](include/reach/interfaces/logger.h) - Logs messages about the status and progress of the reach study ### Plugins