TRAC-IK: An open-source library for improved solving of generic inverse kinematics
Published:
- SQP: \(arg \underset{q \in \bf{R}^n}{\text{min}} (q_{seed}-q)^T(q_{seed}-q)\) subject to \(f_i(q) \leq b_i, i=1,\dots,m\)
- SQP-DQ: the objective is the task space pose error.
- KDL-RR: KDL ik with random restarts
Test: