IkFast.hpp File Reference

#include <array>
#include "dart/dynamics/InverseKinematics.hpp"
#include "dart/external/ikfast/ikfast.h"

Go to the source code of this file.

Classes
class	dart::dynamics::IkFast
	A base class for IkFast-based analytical inverse kinematics classes. More...

Namespaces
namespace	dart
namespace	dart::dynamics

Macros
#define	IKFAST_HAS_LIBRARY

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.

Macro Definition Documentation

IKFAST_HAS_LIBRARY

#define IKFAST_HAS_LIBRARY