GitHub - kirillv/cpp-inverse-kinematics-library: library for solving ik for robotics

Branches Tags

Name		Name	Last commit message	Last commit date
Latest commit History 6 Commits
Example		Example
contrib		contrib
src		src
CAlgoAbstract.h		CAlgoAbstract.h
CAlgoFactory.cpp		CAlgoFactory.cpp
CAlgoFactory.h		CAlgoFactory.h
CConfigLoader.cpp		CConfigLoader.cpp
CConfigLoader.h		CConfigLoader.h
CDumpedLeastSquares.cpp		CDumpedLeastSquares.cpp
CDumpedLeastSquares.h		CDumpedLeastSquares.h
CJacobian.cpp		CJacobian.cpp
CJacobian.h		CJacobian.h
CJacobianPseudoInverse.cpp		CJacobianPseudoInverse.cpp
CJacobianPseudoInverse.h		CJacobianPseudoInverse.h
CJacobianTranspose.cpp		CJacobianTranspose.cpp
CJacobianTranspose.h		CJacobianTranspose.h
CJoint.cpp		CJoint.cpp
CJoint.h		CJoint.h
CLineFactory.cpp		CLineFactory.cpp
CLineFactory.h		CLineFactory.h
CLink.cpp		CLink.cpp
CLink.h		CLink.h
CMatrixFactory.cpp		CMatrixFactory.cpp
CMatrixFactory.h		CMatrixFactory.h
CRobot.cpp		CRobot.cpp
CRobot.h		CRobot.h
JacobianTypes.h		JacobianTypes.h
README		README
RobotTypes.h		RobotTypes.h
SharedTypes.h		SharedTypes.h
config.h		config.h
lexer.cpp		lexer.cpp
lexer.h		lexer.h
robotdesc.sln		robotdesc.sln
robotdesc.vcproj		robotdesc.vcproj
sigslot.h		sigslot.h
testApp.cpp		testApp.cpp

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This program loads xml that describes robot in DH parameters and able 
to solve IK problem.

Solvers:
Jacobian Transpose
Jacobian Pseudoinverse
DLS

TODO:
Add CCD  solver
Add SDLD solver
Add path and trajectory planner