====== HW 3 - Inverse kinematics ======
You are provided with the 3-links planar manipulator, whose link lengths ℓ1, ℓ2, ℓ3 are all equal and whose tip 𝐸 is identified by the triplet [xe, ye, φe], being (xe, ye) the Cartesian coordinates of the tip, whereas φe is the angle between the link 3 and the x-axis of the root frame.
Moreover, the manipulator is actuated by means of 3 motors controlled in velocity that move the joints angles [θ1, θ2, θ3].

You should design a controller, which implements a suitable Inverse Kinematics algorithm to meet the following requirements given in descending order of importance:

1️⃣ Primary task: reach the target position with the tip of the manipulator.

2️⃣ Secondary task: align the tip frame along with the target frame.

More details can be found in {{ :courses:hro:tutorials:hw3.pdf |hw3.pdf}}.


|Assignment | {{ :courses:hro:tutorials:hw3.pdf |hw3.pdf}} |
|Code template | {{ :courses:hro:tutorials:hw3.zip |hw3.zip}} |
|Maximum score | 4 |
|Soft deadline | 24.3.2021 23:59:59 |
|Hard deadline | 27.3.2021 23:59:59 |



===== Evaluation =====

Please, submit your solution to the [[https://cw.felk.cvut.cz/brute/|BRUTE]]. Upload just the file ''main.cpp''. The solution should achieve the maximum score in Smoke test. However, the grading in Smoke test provides only a tentative evaluation. The points will be awarded after manual evaluation and code review (Hint: always check the types of incoming data in the Bottle). Solutions uploaded after the **soft** deadline will gain only **half** of the points. Solutions uploaded after the **hard** deadline will gain **no** points.