Module skelly::ik

This module contains inverse-kinematic functionality for the skelly crate.

Example

use {skelly::{Skelly, Posture, ik::frik::FrikSolver}, na::{Point3, Vector3, Isometry3}};
let mut skelly = Skelly::<f32>::new();
let foot = skelly.add_root(Point3::origin());
let leg = skelly.attach(Vector3::z().into(), foot);
let waist = skelly.attach(Vector3::z().into(), leg);
let left_shoulder = skelly.attach(Vector3::z().into(), waist);
let left_arm = skelly.attach((-Vector3::x()).into(), left_shoulder);
let left_palm = skelly.attach((-Vector3::x()).into(), left_arm);
let right_shoulder = skelly.attach(Vector3::z().into(), waist);
let right_arm = skelly.attach(Vector3::x().into(), right_shoulder);
let right_palm = skelly.attach(Vector3::x().into(), right_arm);

// Using the skelly above, do some inverse-kinematics
let mut posture = Posture::new(&skelly);
let mut solver = FrikSolver::new(0.01);

// move left palm to the foot.
solver.set_position_goal(left_palm, Point3::origin());

// Iteratively solve imposed constraints.
for _ in 0..100 {
  solver.solve_step(&skelly, &mut posture);
}

// Write global isometries of every joint in the posture into an array.
let mut globals = vec![Isometry3::identity(); skelly.len()];
posture.write_globals(&skelly, &Isometry3::identity(), &mut globals);

Modules

fabrik

This module contains inverse-kinematic functionality for the skelly crate.

frik

This module contains inverse-kinematic functionality for the skelly crate.

rotor

This module contains inverse-kinematic functionality for the skelly crate.

Enums

StepResult

Variants of results for IkSolver::solve_step method.

Traits

IkSolver

Trait for ik solvers. Using this common interface user may replace implementation easily.