IkFast.cpp File Reference

#include "dart/dynamics/IkFast.hpp"
#include "dart/dynamics/BodyNode.hpp"
#include "dart/dynamics/DegreeOfFreedom.hpp"
#include "dart/dynamics/RevoluteJoint.hpp"
#include "dart/external/ikfast/ikfast.h"

Namespaces
namespace	dart
namespace	dart::dynamics

Functions
bool	dart::dynamics::wrapCyclicSolution (double curr, double lb, double ub, double &sol)
	Tries to wrap a single dof IK solution, from IKFast, in the range of joint limits.