global search has no initial guess
@@ -876,7 +876,7 @@ class IKMixin:
# --------------------------------------------------------------------- #
def ikine_global(
- self, T, q0=None, qlim=False, ilimit=1000,
+ self, T, qlim=False, ilimit=1000,
tol=1e-16, method=None, options={}):
r"""
.. warning:: Experimental code for using SciPy global optimizers.
@@ -895,11 +895,6 @@ class IKMixin:
if not isinstance(T, SE3):
T = SE3(T)
- if q0 is None:
- q0 = np.zeros((self.n))
- else:
- q0 = base.getvector(q0, self.n)
-
solutions = []
# wr = 1 / self.reach
