IKP_TranslationXAxisAngle4D and IKP_TranslationYAxisAngle4D not implemented about moveit_ikfast

[v4hn]

I'm not sure I understand the issue.
Do you want to implement it and provide a patch?
Or do you want someone to implement it for you?
There already is a ROS_ERROR for these methods not being implemented in the code.
I see no reason for an additional issue unless there is some proposed code for it...

[robosamir]

I guess its more a feature request. I'll try implementing it myself. Any guidance will be useful.

[jrgnicho]

Are you implementing this for a specific robot?

[robosamir]

I have a 5DOF arm for which TranslationDirection5D doesn't work but these IK types do.

[jrgnicho]

This repo only provides tools for wrapping an ik closed form solution into a moveit KinematicsBase subclass. In order to generate the ik solution you can use the openrave tools as described here. As far as I know openrave is very flexible and can solve the ik for arms with varying kinematic configurations. However, I've only used it with 6DOF arms with with a spherical wrist configuration but I'd advice to try and see if it can generate one for your robot.

[robosamir]

Yes, I understand that. Anyways, I implemented the logic for IKP_TranslationXAxisAngle4D/IKP_TranslationYAxisAngle4D/IKP_TranslationZAxisAngle4D in the template file. I can make a PR if you are interested.
This issue can be closed.

[v4hn]

@robosamir do that please.
Evidence that your implementation actually works (e.g. a moveit config for such a robot) would be highly appreciated!