Functions
bool	applyProprioceptionLimits (Eigen::Map< memoryx::KBM::Vector > &solution, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	apply limits to solution and return true, if solution has been changed = solution was not in limits

memoryx::KBM::Vector	calculateJointDeltas (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &target, const memoryx::KBM::Vector &position, const memoryx::KBM::Vector &proprioception, float stepSizeFactor, float maxStepSize)
	calculateJointDeltas is in internal function called by solve

bool	checkProprioceptionLimits (const memoryx::KBM::Vector &solution, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	check if solution is within the limits

float	randomFloat (float LO, float HI)
	randomFloat creates a random float between LO and HI

memoryx::KBM::Vector	randomProprioception (const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits)
	Creates a vector of random values between the limits.

bool	solve (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &targetPosition, const memoryx::KBM::Vector &currentPostion, const memoryx::KBM::Vector &currentProprioception, Eigen::Map< memoryx::KBM::Vector > &solution, float positionTolerance=5.0f, float minimumDelta=0.0f, bool requireImprovment=false, int maxSteps=50, float stepSizeFactor=0.2f, float maxStepSize=FLT_MAX)
	solves the inverse kinematics

bool	solveMany (const memoryx::KBM::Models::KBM &kbm, const memoryx::KBM::Vector &targetPosition, const memoryx::KBM::Vector &currentPosition, const memoryx::KBM::Vector &currentProprioception, const memoryx::KBM::Vector &lowerProprioceptionLimits, const memoryx::KBM::Vector &upperProprioceptionLimits, Eigen::Map< memoryx::KBM::Vector > &solution, bool applyLimits=true, int maxSolves=25, float positionTolerance=5.0f, float minimumDelta=0.0f, bool requireImprovment=false, int maxSteps=50, float stepSizeFactor=0.2f, float maxStepSize=FLT_MAX)
	KBMDifferentialIK::solveMany runs solve many times.

Function Documentation

◆ applyProprioceptionLimits()

bool applyProprioceptionLimits	(	Eigen::Map< memoryx::KBM::Vector > &	solution,
		const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits )

apply limits to solution and return true, if solution has been changed = solution was not in limits

◆ calculateJointDeltas()

memoryx::KBM::Vector calculateJointDeltas	(	const memoryx::KBM::Models::KBM &	kbm,
		const memoryx::KBM::Vector &	target,
		const memoryx::KBM::Vector &	position,
		const memoryx::KBM::Vector &	proprioception,
		float	stepSizeFactor,
		float	maxStepSize )

calculateJointDeltas is in internal function called by solve

◆ checkProprioceptionLimits()

bool checkProprioceptionLimits	(	const memoryx::KBM::Vector &	solution,
		const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits )

check if solution is within the limits

◆ randomFloat()

float randomFloat	(	float	LO,
		float	HI )

randomFloat creates a random float between LO and HI

◆ randomProprioception()

memoryx::KBM::Vector randomProprioception	(	const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits )

Creates a vector of random values between the limits.

◆ solve()

bool solve	(	const memoryx::KBM::Models::KBM &	kbm,
		const memoryx::KBM::Vector &	targetPosition,
		const memoryx::KBM::Vector &	currentPostion,
		const memoryx::KBM::Vector &	currentProprioception,
		Eigen::Map< memoryx::KBM::Vector > &	solution,
		float	positionTolerance = 5.0f,
		float	minimumDelta = 0.0f,
		bool	requireImprovment = false,
		int	maxSteps = 50,
		float	stepSizeFactor = 0.2f,
		float	maxStepSize = FLT_MAX )

solves the inverse kinematics

Parameters

kbm	the learned KBM
targetPosition	the target position
currentPosition	the current position
currentProprioception	the current proprioception
solution	will contain the joint values that solve the inverse kinematics

Returns: true, if a good approximation has been found, false otherwise

◆ solveMany()

bool solveMany	(	const memoryx::KBM::Models::KBM &	kbm,
		const memoryx::KBM::Vector &	targetPosition,
		const memoryx::KBM::Vector &	currentPosition,
		const memoryx::KBM::Vector &	currentProprioception,
		const memoryx::KBM::Vector &	lowerProprioceptionLimits,
		const memoryx::KBM::Vector &	upperProprioceptionLimits,
		Eigen::Map< memoryx::KBM::Vector > &	solution,
		bool	applyLimits = true,
		int	maxSolves = 25,
		float	positionTolerance = 5.0f,
		float	minimumDelta = 0.0f,
		bool	requireImprovment = false,
		int	maxSteps = 50,
		float	stepSizeFactor = 0.2f,
		float	maxStepSize = FLT_MAX )

KBMDifferentialIK::solveMany runs solve many times.