closed-chain-ik/core
Classes
FrameBase class forLink,Joint, andGoalrepresenting a frame defined by a position and rotation in space.GoalA frame representing a target for a connected link to reach.JointA frame representing a kinematic joint with any combination of degrees of freedom.LinkA frame modeling a fixed connection between joints.SolverSolves the closure and joint target constraints of a system of frames using damped least squares.