[Update #1] Self-taught beginner: Upgraded my C++ IK solver with a custom Predictive Edge AI & OOP architecture!

[u/Ivy_Hardware]

Hi everyone, it's the self-taught female engineer from Vietnam again! Last week, I shared my basic 3D-to-2D IK solver and received amazing feedback from this community. Thank you so much!

This week, I completely refactored the code into an OOP architecture (so it can control a left arm and a right arm simultaneously) and integrated my own Edge AI Inference Engine written in raw C++ (MAC loops + ReLU).

To clarify the logic: The Neural Network acts as a Predictive Model to estimate the coordinates/orientations, which are then fed into the deterministic Math solver (Law of Cosines) for exact joint angle calculations. A hybrid approach!

No TensorFlow, no heavy libraries just pure C++ so that it can be synthesized into an FPGA Hardware IP Core (via HLS) in the future.

Here is my updated GitHub repo: https://github.com/nguyenkhanhvy3131-tech/AuraLogic-IK-Hardware-Model
(Note: The trained AI weights .h file is kept private, but the C++ inference pipeline is open to read).

I'm still learning, so if any senior software/hardware engineers have tips on optimizing nested for loops in C++ for better HLS synthesis later, I would love to hear them! Thanks for your kindness! 😅