接入KDL native IK与链路采样

2026-06-27 09:19:57 -04:00
parent ef5f14aa2a
commit 2817cba164
7 changed files with 504 additions and 37 deletions
--- a/kdl-wasm/CMakeLists.txt
+++ b/kdl-wasm/CMakeLists.txt
@@ -30,6 +30,7 @@ if(KDL_SOURCE_DIR)
  list(APPEND KDL_WASM_SOURCES
    "${KDL_SOURCE_DIR}/src/chain.cpp"
    "${KDL_SOURCE_DIR}/src/chainfksolverpos_recursive.cpp"
+    "${KDL_SOURCE_DIR}/src/chainiksolverpos_lma.cpp"
    "${KDL_SOURCE_DIR}/src/chainjnttojacsolver.cpp"
    "${KDL_SOURCE_DIR}/src/frames.cpp"
    "${KDL_SOURCE_DIR}/src/jacobian.cpp"