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ik_solve

python version

使用说明

代码只在windows平台测试过

  1. 文件说明
    1. src->ik->ik_chain.py 节点,ik链对象
    2. src->ik->fabrik.py 用fabrik算法解算ik链
    3. src->ik->jacobian_ik.py 用jacobian矩阵算法解算ik链 未实现角度约束
    4. src->visible->visible.py 用于实时显示ik解算效果
  2. 进入src->visible目录,直接运行python visible.py文件即可
  3. 移动effector键盘快捷键,数字键1,2,4,5,7,8在xyz不同轴的正负向移动effector

运行截图

demo

遇到的问题

  1. 开发初期,采用只记录骨骼朝向的方式计算jacobian矩阵,导致累积误差。实现流程如下

    1.骨骼朝向向量->2.四元数->3.旋转矩阵->4.欧拉角->5.jacobian->6.jacobian inverse->7.计算更新角度->8.转骨骼朝向->9.重复1

    上述循环,在1-3的过程中,由于每次迭代角度变化幅度很小,所以引起了误差。现象是迭代3轮以后,骨骼朝向不再跟随迭代轮次变化。

    解决方案

    迭代更新时,不再通过1-4的转换,而是直接记录角度变化,去掉转换过程中的误差

待完成

  1. jacobian ik的任务优先级
  2. jacobian ik角度约束

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