Continuing inverse kinematics after IpOpt fails to achieve desired accuracy #3120
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Fixes issue #3119
Brief summary of changes
Added a flag (
adaptiveAccuracy) and two parameters to InverseKinematicsToolBase that allow rerunning track on a frame with lower accuracy if the optimizer failed to converge.Added another flag (
ignoreConvergenceErrors) to InverseKinematicsToolBase that allows ignoring a convergence error during track() of a frame.void AssemblySolver::track(SimTK::State &s)now throws a more comprehensive exception that can be traced, similar tovoid AssemblySolver::assemble(SimTK::State &state).Testing I've completed
Running with flags turned off produces the same results as the default version. Ran tests with enabling each or both of the flags, behavior is similar (mean DOF angle difference ~ 1 degree).
Looking for feedback on the validity of this approach.
CHANGELOG.md (choose one)
Please tell me where to append a note of change.
This change is