Class SimpleIk

Class Documentation

class SimpleIk

Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse.

Public Functions

SimpleIk(const std::shared_ptr<Scene> scene, const SimpleIkOptions &options)

Constructor.

Parameters:

  • scene – A pointer to the scene to use for solving IK.

  • options – A struct containing IK solver options.

inline bool solveIk(const CartesianConfiguration &goal, const JointConfiguration &start, JointConfiguration &solution)

Solves inverse kinematics (single goal).

This just calls the multiple goal version internally.

Parameters:

  • goal – The goal Cartesian configuration.

  • start – The starting joint configuration. (should be optional)

  • solution – The IK solution, as a joint configuration.

Returns:

Whether the IK solve succeeded.

bool solveIk(const std::vector<CartesianConfiguration> &goals, const JointConfiguration &start, JointConfiguration &solution)

Solves inverse kinematics (multiple goal).

Parameters:

  • goals – The goal Cartesian configurations.

  • start – The starting joint configuration. (should be optional)

  • solution – The IK solution, as a joint configuration.

Returns:

Whether the IK solve succeeded.