Use gradient bio_ik solver and fix memory issues #705
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Flova
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Pull Request Overview
This PR changes the inverse kinematics solver to use a gradient descent approach and simplifies vector initialization in spline functions to address memory concerns.
- Updated kinematics configuration across multiple groups by adding the "gd_c" mode.
- Refactored the vector initializations in both position and pose spline functions to inline constructions.
Reviewed Changes
Copilot reviewed 3 out of 3 changed files in this pull request and generated no comments.
| File | Description |
|---|---|
| bitbots_robot/wolfgang_moveit_config/config/kinematics.yaml | Added "gd_c" mode to several kinematics groups to enable gradient descent-based IK. |
| bitbots_motion/bitbots_splines/src/Spline/position_spline.cpp | Simplified getPos, getVel, and getAcc functions with inline vector initializations. |
| bitbots_motion/bitbots_splines/src/Spline/pose_spline.cpp | Refactored spline functions for position and orientation to use shorthand vector construction. |
jaagut
approved these changes
Jun 18, 2025
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Summary
It doesn't really change anything, but it could be a bit more reliable for our setup, which does not include many local minima.
I also fixes an vector init that was reported as risky by valgrind during the visit at the WF Wolves.
Proposed changes
Use gradients instead of particle swarm optimization in ik.
Related issues
Checklist
colcon build