61 lines
1.5 KiB
C++
61 lines
1.5 KiB
C++
#pragma once
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#include <cfloat>
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#include "IKSolver.h"
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#include "Armature.h"
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#include "SVD.h"
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using namespace gti320;
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namespace
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{
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}
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IKSolver::IKSolver(Armature* _armature, Vector3f& _targetPos) : m_armature(_armature), m_targetPos(_targetPos), m_J()
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{
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}
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float IKSolver::getError(Vector3f& dx) const
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{
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// TODO Compute the error between the current end effector
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// position and the target position
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dx.setZero();
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return FLT_MAX;
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}
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void IKSolver::solve()
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{
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const int numLinks = m_armature->links.size();
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const int dim = 3 * (numLinks);
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m_J.resize(3, dim);
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// We assume that the last link is the "end effector"
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//
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Link* endEffector = m_armature->links[numLinks - 1];
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// TODO Juild the Jacobian matrix m_J.
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// Each column corresponds to a separate
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// TODO Compute the error between the current end effector
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// position and the target position by calling getError()
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//
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// TODO Compute the change in the joint angles by solving:
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// df/dtheta * delta_theta = delta_x
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// where df/dtheta is the Jacobian matrix.
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//
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//
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// TODO Perform gradient descent method with line search
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// to move the end effector toward the target position.
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//
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// Hint: use the Armature::unpack() and Armature::pack() functions
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// to set and get the joint angles of the armature.
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//
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// Hint: whenever you change the joint angles, you must also call
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// armature->updateKinematics() to compute the global position.
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//
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}
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