roboplan.roboplan_ext.simple_ik
===============================

.. py:module:: roboplan.roboplan_ext.simple_ik


Classes
-------

.. autoapisummary::

   roboplan.roboplan_ext.simple_ik.SimpleIkOptions
   roboplan.roboplan_ext.simple_ik.SimpleIk


Module Contents
---------------

.. py:class:: SimpleIkOptions

   Options struct for simple IK solver.


   .. py:property:: group_name
      :type: str


      The joint group name to be used by the solver.


   .. py:property:: max_iters
      :type: int


      Max iterations for one try of the solver.


   .. py:property:: max_time
      :type: float


      Max total computation time, in seconds.


   .. py:property:: max_restarts
      :type: int


      Maximum number of restarts until success.


   .. py:property:: step_size
      :type: float


      The integration step for the solver.


   .. py:property:: damping
      :type: float


      Damping value for the Jacobian pseudoinverse.


   .. py:property:: max_error_norm
      :type: float


      The maximum error norm.


   .. py:property:: check_collisions
      :type: bool


      Whether to check collisions.


.. py:class:: SimpleIk(scene, options)

   Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse.


   .. py:method:: solveIk(goal, start, solution)

      Solves inverse kinematics.