inverse_kinematics.h File Reference

#include <libopynsim/model_state.h>
#include <libopynsim/symbol.h>
#include <liboscar/maths/quaternion.h>
#include <liboscar/maths/vector.h>
#include <liboscar/utilities/assertions.h>
#include <concepts>
#include <cstddef>
#include <utility>
#include <vector>

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Classes
class	opyn::IKResult
	Represents the output of the inverse kinematics (IK) solver. More...
class	opyn::IKMeasurements< T >

Namespaces
namespace	opyn

Typedefs
using	opyn::IKStationMeasurements = IKMeasurements< osc::Vector3d >
using	opyn::IKOrientationMeasurements = IKMeasurements< osc::Quaterniond >
using	opyn::IKCoordinateMeasurements = IKMeasurements< double >

Functions
IKResult	opyn::inverse_kinematics_solve (const Model &model, const std::optional< IKStationMeasurements > &station_measurements={}, const std::optional< IKOrientationMeasurements > &orientation_measurements={}, const std::optional< IKCoordinateMeasurements > &coordinate_measurements={})
	Returns the result of running an IK solver on model for the provided measurements.