global search has no initial guess

petercorke · petercorke · commit fc490d9e0fef · 2021-02-14T15:53:49.000+10:00
diff --git a/roboticstoolbox/robot/IK.py b/roboticstoolbox/robot/IK.py
@@ -876,7 +876,7 @@ def cost(q, T, weight, costfun, stiffness):
 # --------------------------------------------------------------------- #
 
     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 @@ def ikine_global(
         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
