/// <summary>
/// Calculates value and derivative of the position of the arm with respect to whichDeriv
/// </summary>
DualNumber ArmFKError(Vector3 clampedPos, int whichDeriv)
{
DualNumber thetaVar = whichDeriv == 0 ? DualNumber.Variable(theta) : DualNumber.Constant(theta);
DualNumber phiVar = whichDeriv == 1 ? DualNumber.Variable(phi) : DualNumber.Constant(phi);
baseJoint = new DualVector3(Math.Sin(thetaVar), Math.Cos(thetaVar), new DualNumber());
endJoint = baseJoint + new DualVector3(Math.Sin(thetaVar + phiVar), Math.Cos(thetaVar + phiVar), new DualNumber());
return(((DualVector3)clampedPos - endJoint).SqrMagnitude());
}
/// <summary>
/// Calculates value and derivative of the position of the arm with respect to whichDeriv
/// </summary>
static DualNumber[] ArmFK(float theta, float phi, int whichDeriv)
{
DualNumber thetaVar = whichDeriv == 0 ? DualNumber.Variable(theta) : DualNumber.Constant(theta);
DualNumber phiVar = whichDeriv == 1 ? DualNumber.Variable(phi) : DualNumber.Constant(phi);
DualNumber[] outputValues =
{
Math.Sin(thetaVar), //X Position of First Joint
Math.Cos(thetaVar), //Y Position of First Joint
Math.Sin(thetaVar) + Math.Sin(thetaVar + phiVar), //X Position of Second Joint
Math.Cos(thetaVar) + Math.Cos(thetaVar + phiVar), //Y Position of Second Joint
};
return(outputValues);
}
/// <summary>
/// Calculates value and derivative of the position of the sphere with respect to whichDeriv
/// </summary>
DualNumber SphereFittingError(int whichDeriv, bool drawDebug)
{
DualVector3 thisPosition = new DualVector3(
whichDeriv == 0 ? DualNumber.Variable(transform.position.x) : DualNumber.Constant(transform.position.x),
whichDeriv == 1 ? DualNumber.Variable(transform.position.y) : DualNumber.Constant(transform.position.y),
whichDeriv == 2 ? DualNumber.Variable(transform.position.z) : DualNumber.Constant(transform.position.z));
DualVector3 thisYBasis = new DualVector3(
whichDeriv == 3 ? DualNumber.Variable(transform.up.x) : DualNumber.Constant(transform.up.x),
whichDeriv == 4 ? DualNumber.Variable(transform.up.y) : DualNumber.Constant(transform.up.y),
whichDeriv == 5 ? DualNumber.Variable(transform.up.z) : DualNumber.Constant(transform.up.z));
DualVector3 thisZBasis = new DualVector3(
whichDeriv == 6 ? DualNumber.Variable(transform.forward.x) : DualNumber.Constant(transform.forward.x),
whichDeriv == 7 ? DualNumber.Variable(transform.forward.y) : DualNumber.Constant(transform.forward.y),
whichDeriv == 8 ? DualNumber.Variable(transform.forward.z) : DualNumber.Constant(transform.forward.z));
DualVector3 thisScale = new DualVector3(
whichDeriv == 9 ? DualNumber.Variable(transform.localScale.x) : DualNumber.Constant(transform.localScale.x),
whichDeriv == 10 ? DualNumber.Variable(transform.localScale.y) : DualNumber.Constant(transform.localScale.y),
whichDeriv == 11 ? DualNumber.Variable(transform.localScale.z) : DualNumber.Constant(transform.localScale.z));
thisYBasis = thisYBasis.Normalize(); thisZBasis = thisZBasis.Normalize();
DualVector3 thisXBasis = thisYBasis.Cross(thisZBasis);
thisYBasis = thisZBasis.Cross(thisXBasis);
//THIS IS A FULLY DIFFERENTIABLE RIGID TRANSFORM - NO SINGULARITIES
DualMatrix4x3 thisTransform = new DualMatrix4x3(thisXBasis * thisScale.x, thisYBasis * thisScale.y, thisZBasis * thisScale.z, thisPosition);
//Sum the Squared Errors
DualNumber error = new DualNumber();
for (int i = 0; i < icoVerts.Length; i++)
{
DualVector3 thisPoint = thisTransform * icoVerts[i]; DualVector3 basePoint = baseTransformMatrix * icoVerts[i];
if (drawDebug)
{
Debug.DrawLine(thisPoint, basePoint);
}
error += (thisPoint - basePoint).SqrMagnitude();
}
//Divide by Number of Squared Errors
error /= icoVerts.Length;
return(error);
}
/// <summary>
/// Calculates value and derivative of the position of the sphere with respect to whichDeriv
/// </summary>
DualNumber SphereFittingError(int whichDeriv, bool drawDebug)
{
DualVector3 spherePosition = new DualVector3(
whichDeriv == 0 ? DualNumber.Variable(transform.position.x) : DualNumber.Constant(transform.position.x),
whichDeriv == 1 ? DualNumber.Variable(transform.position.y) : DualNumber.Constant(transform.position.y),
whichDeriv == 2 ? DualNumber.Variable(transform.position.z) : DualNumber.Constant(transform.position.z));
DualNumber radius = whichDeriv == 3 ? DualNumber.Variable(transform.localScale.x) : DualNumber.Constant(transform.localScale.x);
//Sum the Squared Errors
DualNumber error = new DualNumber();
for (int i = 0; i < icoVerts.Length; i++)
{
error += DistFromSurface(baseSphere.position, baseSphere.localScale.x * 0.5f, spherePosition + (radius * icoVerts[i]), drawDebug).Squared();
}
//Divide by Number of Squared Errors
error /= icoVerts.Length;
return(error);
}