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Computer Graphics Assignment about Kinematics
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Using forward_kinematics in kinematics_jacobian #50

Open Hasnat-Khan opened 7 months ago

Hasnat-Khan commented 7 months ago

I'm a little confused about how to get x(\theta + h). I originally thought that we just use the transformed_tips function was just the x(\theta) function, but I'm confused at how you're supposed to use that with the forward_kinematics function. The forward_kinematics function returns Affine3d transforms, so do I just replace the rest_T in the skeleton to those transformations?

My forward kinematics seemed to be running fine, but would I also have to do that in that function? I'm really confused about this part since forward_kinematics is also not included in the file, but the readme definitely tells us to use it (specifically says 3m calls of the forward kinematics function).

Zhecheng-Wang commented 7 months ago

Since we are finite differencing $x(\theta)$, we actually want to call transformed_tips not forward_kinematics. Note that the only difference between forward_kinematics and transformed_tips is one is the transformation and the other is the actual spatial coordinates (of the endpoints).