iKin [Libraries]

Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs. More...

Modules
	iKinFwd
	Classes for forward kinematics of serial-links chains and iCub limbs.
	iKinHlp
	Helper class to deal with Cartesian Solver options.
	iKinInv
	Classes for inverse kinematics of serial-links chains and iCub limbs.
	iKinIpOpt
	Classes for inverse kinematics of serial-links chains and iCub limbs based on IpOpt.
	iKinSlv
	Classes for on-line solution of inverse kinematic of iCub limbs based on IpOpt.

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Detailed Description

Classes for forward-inverse kinematics of serial-links chains of revolute joints and iCub limbs.

Note:

SI units adopted: meters for lengths and radians for angles.

Dependencies

• ctrlLib
• IPOPT: see the wiki.

Note:

Tutorials are available under $ICUB_ROOT/main/src/libraries/iKin/tutorials.

If you're going to use iKin for your work, please quote it within any resulting publication.

Author:

Ugo Pattacini