Experiments with touch in 2D using openframeworks
Requires OpenFrameworks. It must be checked out in your openframeworks apps directory:
<OF_ROOT>/apps/myApps/
it also requires nlopt installed.
Contains 3 experiments:
- Simple Filter - a simple 3D environment with a point robot and a surface.
WASD + Q/E can be used to move the robot around; - Analytic Filter (IK) - a 2-link 2-joint robot with a single point
Use the mouse to move the robot around. - Touch Filter - a 3-link 3-joint robot with a signed distance field based environment.
use the mouse to move the robot around
Most of the experiments can be run in the following modes:
- CPF - Conventional particle filter
- MPF_Analytic - Manifold particle filter with an analytic representation of the manifold
- MPF_ParticleProjection - MPF with projection of the current belief onto the manifold
- MPF_UniformProjection - MPF with projection of a uniform sample set onto the manifold
- MPF_BallProjection - MPF which projects a sample from a bounding ball around the current belief