Inverse Kinematics on Franka Arm 2000 random valid joint configurations Locking q7
0.3Joint Angles Computation Time (µs)HeLiu
Evaluation Results
| Method | Links | ||||||||
|---|---|---|---|---|---|---|---|---|---|
| HeLiuCompiler=clang, Statistic=Min/Max, Optimization flag=-O32025.03 | 0.3 | — | 6 | 0 | 5,272 | 72 | 3 | 4 | |
| HeLiuCompiler=clang, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 1 | — | 7 | 2.6 | 5,272 | 72 | 3 | 4 | |
| GeoFIKCompiler=clang, Statistic=Min/Max, Optimization flag=-O32025.03 | 1.7 | 0.2 | 1.8 | 1 | 6,352 | 0 | 2 | 1 | |
| GeoFIKCompiler=clang, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 2.1 | 0.3 | 2.7 | 3.2 | 6,352 | 0 | 2 | 1 | |
| IKFastCompiler=gcc, Statistic=Min/Max, Optimization flag=-O32025.03 | 3.2 | — | 8.6 | 1 | 6,346 | 0 | 7 | 1 | |
| IKGeoCompiler=clang, Statistic=Min/Max, Optimization flag=-O32025.03 | 4.5 | — | 11.5 | 1 | 6,350 | 328 | 5 | 3 | |
| IKFastCompiler=gcc, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 4.8 | — | 12.8 | 3.2 | 6,346 | 0 | 7 | 1 | |
| IKGeoCompiler=clang, Statistic=Mean ± Std, Optimization flag=-O32025.03 | 6 | — | 14.4 | 3.2 | 6,350 | 328 | 5 | 3 |