Figure 8.

Closed-chain sampling. Three sampling methods for a 20-link closed-loop chain. At left, the prior gives preference to joint angles with small magnitude. At right, the prior gives preference to joint positions in a triangle shaped distribution (circle centers: means, shaded circles: 3σ spreads). Top: sampling joint angles followed by numerical loop closure, best 20/20,000 samples. Middle: sampling with RLG [5], best 20/20,000 samples. Bottom: SLIKMC, displayed every 40'th sample. These sample sets are generated by our method approximately as fast as RLG and an order of magnitude faster than numerical loop closure.

Zhang and Hauser BMC Structural Biology 2013 13(Suppl 1):S9   doi:10.1186/1472-6807-13-S1-S9