Garrett Johnson

Cannot use '&&' in expression

2

When declaring '&&' in the "binaryOps" field an error is thrown when parsing a binary '&&' expression: ```js import { Parser } from 'expr-eval'; const parser = new Parser(); parser.binaryOps[...

# Overview Paper https://www.researchgate.net/publication/325950583_An_Algorithm_for_Trajectory_Generation_in_Redundant_Manipulators_with_Joint_Transmission_Accommodation ### Notes #### To Lookup / Refresh - LU Factorization - QR Decomposition - Screw theory / screw (translation and rotation axis definition) # Other https://www.researchgate.net/publication/266572408_Generalized_Coordinate_Partitioning_Methods_for_Numerical_Integration_of_Differential-Algebraic_Equations_of_Dynamics...

Use quaternion to represent error when a joint has 3 degrees of freedom and a target is set

4

It may just be easiest to handle a full quaternion here always. This is an issue with ball joints (3dof) that are not goals / closures because the solver will...

Look at exponential maps for rotation error

2

See Appendix B: https://www2.ccs.neu.edu/research/gpc/publications/Vona__2009__Virtual_Articulation_and_Kinematic_Abstraction_in_Robotics.pdf

For custom sets of system solves or sub system solves. For example: ```js const chainSolver = new ChainSolver( customJointsAndGoals ); ``` Useful if you just want to solve for one...

1. Open Example 2. Enable SVD on solver 3. Move the first leg down 4. Right click the body 5. Try to move any goal and see that it diverges...

For creating multiple systems that only solve for a piece of the system (ie solve for 5 leg goals / closures but not the 6th in the case of ATHLETE)....

Improve tolerance at fully extended configurations

1

Once a system has been fully extended like the following it can get "stuck" in that pose with any attempt to solve resulting in divergence because moving one of the...