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--- ece4560:piktul:03invkin [2017/10/09 20:28] – pvela
+++ ece4560:piktul:03invkin [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 22: / Line 22: @@
 configuration is achievable or not, and to output as much when that is the
 case.  Remember what the actuator limits are for the joint states.
+==== Checking Validity ====
+Validity of the results can be done by applying the forward kinematics routine to the found joint angles. It should return the configuration requested.  A more fun  option would be to use the ''piktul'' display code to see if it really works out. To visualize the target end-effector configuration, plot it using the SE(3) class with the proper up-conversion of the desired configurations, or the SE(2) class but the height won’t be proper.
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