Comments (2)
http://www.cs.cmu.edu/~spiff/moedit99/expmap.pdf
from closed-chain-ik-js.
Exponential maps could be used for representing closure error instead of quaternions in the matrices which would cut down on the amount of rows needed for error by 1.
from closed-chain-ik-js.
Related Issues (20)
- Solver: Provide option to revert to last converged state when diverging
- Viewer KO with Firefox v111.0.1 (Win10 x64) HOT 2
- Error running hexapod html example
- WorkerSolver: Provide callback / promise for when solve ends
- Example: Provide demo with adjustable "virtual" degrees of freedom
- IKRootsHelper: Color Goals differently or add option to disable closure joint traversal
- IKRootsHelper: Ensure lines, widgets are not double added, improve performance
- Expose Serialization, Deserialization functions HOT 1
- URDF to IK: Handle when the root rotation is not completely free HOT 2
- Improve tolerance at fully extended configurations HOT 1
- Validate and document trackJointWrap field
- Consider making ChainSolver public
- Solver / ChainSolver : Provide option for excluding joints from the solve
- Example: Add shadow casting
- Example: Adding / removing a goal causes result to diverge HOT 3
- Solver: SVD causes result to diverge sometimes
- VR Example: Investigate R2 performance HOT 3
- Solver: Investigate GCP solver
- Examples: Build examples to separate branch
- Resources to Understand This Codebase? HOT 2
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from closed-chain-ik-js.