novaphy.ik.IKOptimizerLBFGS

CPU L-BFGS IK optimizer with per-problem history and Wolfe line search.

IKOptimizerLBFGS(
    model_or_bundle,
    n_batch,
    objectives,
    *,
    jacobian_mode=IKJacobianType.ANALYTIC,
    history_len=10,
    h0_scale=1.0,
    line_search_alphas=None,
    wolfe_c1=1e-4,
    wolfe_c2=0.9,
    problem_idx=None,
)

step(joint_q_in, joint_q_out, iterations=50) runs a fixed iteration count. costs stores the squared residual norm. reset() clears all L-BFGS history and invalidates FK caches.

Most applications select this implementation through IKSolver(optimizer=IKOptimizer.LBFGS).

See also

• IKOptimizerLM
• IKSolver
• novaphy.ik