Function pick_ik::step

• Defined in File ik_gradient.hpp

Function Documentation

auto pick_ik::step(GradientIk &self, Robot const &robot, CostFn const &cost_fn, double step_size) -> bool

Performs one step of gradient descent.

Parameters:

• self – Instance of GradientIk object.

• robot – Robot model,

• cost_fn – Cost function for gradient descent.

• step_size – Numerical step size for gradient descent.

Returns:

true if the cost function improved (decreased), else false.