{"id":28740044,"url":"https://github.com/alex-stone-github/invkin","last_synced_at":"2025-06-16T06:41:08.949Z","repository":{"id":292401021,"uuid":"980742690","full_name":"Alex-Stone-Github/invkin","owner":"Alex-Stone-Github","description":"This is a header only library for simple 2 joint inverse kinematics simulations, compatible with c++11.","archived":false,"fork":false,"pushed_at":"2025-05-09T18:11:52.000Z","size":4,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-05-09T19:25:13.473Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Alex-Stone-Github.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null}},"created_at":"2025-05-09T16:27:45.000Z","updated_at":"2025-05-09T18:26:53.000Z","dependencies_parsed_at":"2025-05-09T19:37:36.623Z","dependency_job_id":null,"html_url":"https://github.com/Alex-Stone-Github/invkin","commit_stats":null,"previous_names":["alex-stone-github/invkin"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/Alex-Stone-Github/invkin","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alex-Stone-Github%2Finvkin","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alex-Stone-Github%2Finvkin/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alex-Stone-Github%2Finvkin/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alex-Stone-Github%2Finvkin/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Alex-Stone-Github","download_url":"https://codeload.github.com/Alex-Stone-Github/invkin/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Alex-Stone-Github%2Finvkin/sbom","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":260115269,"owners_count":22961027,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-06-16T06:41:07.663Z","updated_at":"2025-06-16T06:41:08.928Z","avatar_url":"https://github.com/Alex-Stone-Github.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# invkin\nThis is a header-only library for simple two-joint inverse kinematics simulations.\n\n# Features\n- Single header file `ik2j.h`\n- C++11 Compatible\n- Zero Safe\n\n# Usage\n```cpp\n// This is a cartesian point z=\"up\" x=\"right\" y=\"forward\"\nauto point = IK::CylPoint::from_cartesian(10, 0, 1);\n// The solution is a IKResult, the valid field indicates a solution is valid\nauto solution = IK::solve(point, close_len, far_len);\n\n// All of the following fields are only considered valid if the 'valid' field is true\n// Table Angle - \"Which direction are we facing\"\nsolution.table_angle;\n// Near Angle - \"Base Angle relative to an orthogonal angle to the ground\"\nsolution.near_angle;\n// Far Angle - \"Angle delta of the second joing tangent to the near segment\"\nsolution.far_angle;\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falex-stone-github%2Finvkin","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Falex-stone-github%2Finvkin","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Falex-stone-github%2Finvkin/lists"}