SolvePositionIK and Transformations


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Can someone please explain how SolvePositionIK works in terms of path planning?

I want to know how to solve for a trajectory by inputting the point position (and maybe orientation) in order to achieve a desired pose related to the reference point.

I'm using a kinect in simulation to scan the environment. So I want to be able to take a point from the camera frame and calculate the position in the global frame so that the transformation required for IK to solve for the pose cam be derived.

Can anyone also suggest a way of achieving that?

Thanks in advance

- Luke

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