# closed-chain-ik/core: Functions

## IKUtils

### findRoots

```js
findRoots( frames: Array<Frame> ): Array<Frame>
```

Finds the unique roots of the trees the given frames belong to, following closure
connections so every connected tree is included.

- `frames`, `Array<Frame>`

### saveRestPose

```js
saveRestPose( root: Frame )
```

Saves the current joint values of every joint in the tree as its rest pose and sets
`restPoseSet` to `true`.

- `root`, `Frame`