这是一篇台湾的C++ OpenGL含报告代码代写
Overview
- Use different bones to touch the ball
- Start bone
○The last movable bone
- End bone
○The bone that touches the ball
Objective
- Everything you need to implement is in kinematics.cpp (in src folder)
- There are three functions you need to implement in this homework
○ void forwardKinematics(…)
○Eigen::VectorXf leastSquareSolver(…)
○ void inverseKinematics(…)
- Bonus
○ Take rotation limit of bones into consideration in void inverseKinematics
- void forwardKinematics(…)
○Goal
■Implement forward kinematics, which is similiar to HW2
- Eigen::VectorXf leastSquareSolver(…)
○Goal
■Find solution of linear least squares system, which will be needed for inverse kinematics
○Hint
■You might use some pseudo-inverse methods such as SVD
■There are some built-in functions in Eigen that you can use
■Eigen::Matrix3Xf means a matrix with 3 rows and unknown columns
- Eigen::Matrix3Xf m(3, 10); // A matrix with 3 rows and 10 columns
■Eigen::VectorXf means a vector with unknown size
- Eigen::VectorXf v(10); // A vector with 10 elements
- void inverseKinematics(…)
○Goal
■Implement inverse kinematics
■We use inverse-Jacobain method in this homework
○Hint
■Review “kinematics.pptx” from p.20 – p.50
■Review “acclaim_FK_IKnote.pdf” Inverse Kinematics part
■Traverse from end bone to start bone
- Make end bone touch the ball (target)
- Start bone is the last movable bone, so you should stop at this bone
■You can check struct Bone in bone.h (in include folder)
Report
- Suggested outline
○ Introduction/Motivation
○ Fundamentals
○ Implementation
○ Result and Discussion
■How different step and epsilon affect the result
■Touch the target or not
■Least square solver
○ Bonus (Optional)
○ Conclusion
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