https://github.com/alex-stone-github/invkin
This is a header only library for simple 2 joint inverse kinematics simulations, compatible with c++11.
https://github.com/alex-stone-github/invkin
Last synced: about 1 year ago
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This is a header only library for simple 2 joint inverse kinematics simulations, compatible with c++11.
- Host: GitHub
- URL: https://github.com/alex-stone-github/invkin
- Owner: Alex-Stone-Github
- License: mit
- Created: 2025-05-09T16:27:45.000Z (about 1 year ago)
- Default Branch: main
- Last Pushed: 2025-05-09T18:11:52.000Z (about 1 year ago)
- Last Synced: 2025-05-09T19:25:13.473Z (about 1 year ago)
- Language: C++
- Size: 3.91 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# invkin
This is a header-only library for simple two-joint inverse kinematics simulations.
# Features
- Single header file `ik2j.h`
- C++11 Compatible
- Zero Safe
# Usage
```cpp
// This is a cartesian point z="up" x="right" y="forward"
auto point = IK::CylPoint::from_cartesian(10, 0, 1);
// The solution is a IKResult, the valid field indicates a solution is valid
auto solution = IK::solve(point, close_len, far_len);
// All of the following fields are only considered valid if the 'valid' field is true
// Table Angle - "Which direction are we facing"
solution.table_angle;
// Near Angle - "Base Angle relative to an orthogonal angle to the ground"
solution.near_angle;
// Far Angle - "Angle delta of the second joing tangent to the near segment"
solution.far_angle;
```