Function kinematics::inverse_kinematics_LM

Defined in File kinematics.hpp

Function Documentation

bool kinematics::inverse_kinematics_LM(const kinematics_utils::links_t &links, const kinematics_utils::link_id_t &target_id, const Eigen::Vector3d &target_p, const Eigen::Matrix3d &target_R, kinematics_utils::q_list_t &result_q_list)