public class InverseKinematics
extends java.lang.Object
Constructor and Description |
---|
InverseKinematics() |
Modifier and Type | Method and Description |
---|---|
static double[] |
jacobianTranspose(org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPos,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentPos,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentAngles,
double[][] jacobian,
double deLimit) |
public static double[] jacobianTranspose(org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPos, org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentPos, org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles, org.apache.commons.math3.geometry.euclidean.threed.Vector3D currentAngles, double[][] jacobian, double deLimit)