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rfdickerson/forward.py

Last active February 27, 2021 20:52
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ik-forward
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forward.py
@jit
def forward_ik(angles, lengths):
x = jnp.cos(angles)
y = jnp.sin(angles)
d = jnp.stack([x,y], axis=0)
return jnp.dot(d, lengths)
@jit
def forward(state):
return forward_ik(state["angles"], state["lengths"])
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