This package contains custom goals (cost functions) for Bio IK2.
The following cost functions are included in this package:
- IKCostFnGoalSeed: custom cost function passed as a lambda function to the Bio IK2 solver, using a pre-defined seed state for the optimization.
- MinimalDisplacementGoalSeed: minimizes the displacement of the end effector from the given seed state.
- ConfigureElbowGoal: configures the elbow of the robot manipulator to be either straight or bent.
- MaxManipulabilityGoal: maximizes the manipulability of the robot manipulator.
- MinimalVelocityJointGoal: minimizes the velocity of the joints of the robot manipulator, from the solver's initial guess
- MinimalAccelerationGoal: minimizes the acceleration of the joints of the robot manipulator, from the solver's initial guess
- MultipleGoalsAtOnce: combines multiple goals into a single cost function, with different weights for each goal. It is often more stable than adding multiple goals separately.