jamesgregson

'''Finite difference Jacobians

Author: James Gregson 
Date: 2020-10-04

Utility function to differentiate numeric functions with finite differences.
Useful for checking analytically derived Jacobian & gradient computations.

See bottom of file for example usage.

jamesgregson

'''
[email protected]

A pretty small 3D IK solver, < 100 lines of code but > 100 lines of comments.
Low dependency (numpy, opencv-python, matplotlib) and includes visualization.

Not particularly fast.

Solves for joint rotations needed in a kinematic skeleton to minimize errors of a set
of end-effectors with respect to a corresponding set of target positions. Assumes

jamesgregson

#pragma once

#include <array>
#include <tuple>
#include <iostream>

// use this namespace to expose operators
namespace ostream_helpers {

namespace {

jamesgregson

#include "lex.h"

#include <iostream>

struct ParserState {
    lex::UserFnRegistry<const char*> user_fns;
    std::vector<double>              stack;

    void push( const double & v ){
        stack.push_back( v );