Inverse kinematics (UTPoser) class. More...
#include <chain.h>
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Classes | |
| class | IK |
| Main class for inverse kinematic computation. More... | |
| class | IKCom |
| Center of mass position. More... | |
| class | IKConstraint |
| Base class for constraints. More... | |
| class | IKDesire |
| Desired joint values. More... | |
| class | IKHandle |
| Position constraint. More... | |
| class | IKScalarJointLimit |
| Joint limit constraint for 1-DOF joints. More... | |
Macros | |
| #define | MAX_CONDITION_NUMBER 100.0 |
| #define | MIN_JOINT_WEIGHT 0.01 |
Variables | |
| static const char | joint_name_separator = '_' |