Thanks to the author. Really a good book.
And I'm confuse in the file "InverseKinematics_LM.m", why wn_pos and wn_ang use 1/0.3 and 1/(2*pi) Instead their squared, for example (1/2pi)^2
confuse in objective function is:
Ek=∑ wi (err)^2
and the err has square, and why wi do not need to consider.
Thanks to the author. Really a good book.
And I'm confuse in the file "InverseKinematics_LM.m", why wn_pos and wn_ang use 1/0.3 and 1/(2*pi) Instead their squared, for example (1/2pi)^2
confuse in objective function is:
Ek=∑ wi (err)^2
and the err has square, and why wi do not need to consider.