Hi. I received from the kul a nice robot model and i tested it with the.
Itasc Inverse Kinematics algorithm. You can se the result here:
http://vimeo.com/5857397.
It allowed me todo test the performance of itasc compared todo the old.
Solver. The diference is amazing, itasc is able todo operate this robot in real time at 25 frames por segundo using 10% of.
One CPU Core (e8400 @ 3ghz). This percentage does not include the time.
Spent on graphic (4%). In this test itasc computes 100 iterations per.
Second.
The exact same test but using the old Solver uses 99% of one CPU Core.
And runs at 4.4fps. This means that itasc is about 56 times faster than.
The old Solver and produces much more coherent results. This is without.
Se optimization (significant performance gain can be expected from.
Eigen2 template library when se optimizations are enabled).
When i enable the auto step algorithm, the performance doubles but the.
Movements are slightly less stable.
The itasc algorithm is available in the itasc branch and tests builds.
Are available at
graphicall.org
/benoit.