- File cuiktransform.c
- Integrate the CuikSuite with a proper 3D modeler such as blender.
- File linear_constraint.h
It might be possible to joint into a single type Tequation and TLinearConstraint. Some of the functions in the simplex could be slightly solwer but we could simplify a little the CuikSuite structure.
- File Serial6RRX60.world
Introduce the range limitations for each one of the degrees of freedom of the Staubli RX60.
- Class Tjoint
Right now only prismatic, spherical, revolute, universal and spherical-spherical joints are defined. Although it is not urgent, we have to define more types of joints: CYL_JOINT (cylindrical joint), and HEL_JOINT (helical joint).
To define a new type of joint, we have to define a new constructor, to to extend the GenerateJointEquations and the GenerateJointRangeEquations functions.
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