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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0 Strict//EN"><html>
<head>
<meta http-equiv="Content-Type" content="text/html; charset=utf-8">
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<title>Coppelia Kinematics Routines, API</title>
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<div align="center"><table class="allEncompassingTable">
<tr><td id="title" class="section"><h1>Coppelia Kinematics Routines, API reference</h1></td></tr>
<tr><td id="info" class="section"><p class="warningBox">All units, unless otherwise indicated, are specified in meters and radians.</p></td></tr>
<tr><td id="alphabetical" class="section"><pre class="lightGreyBox">
<a href="?#ikAddElement">ikAddElement</a>
<a href="?#ikComputeGroupJacobian">ikComputeGroupJacobian</a>
<a href="?#ikComputeJacobian">ikComputeJacobian</a>
<a href="?#ikCreateDummy">ikCreateDummy</a>
<a href="?#ikCreateEnvironment">ikCreateEnvironment</a>
<a href="?#ikCreateGroup">ikCreateGroup</a>
<a href="?#ikCreateJoint">ikCreateJoint</a>
<a href="?#ikDoesGroupExist">ikDoesGroupExist</a>
<a href="?#ikDoesObjectExist">ikDoesObjectExist</a>
<a href="?#ikDuplicateEnvironment">ikDuplicateEnvironment</a>
<a href="?#ikEraseEnvironment">ikEraseEnvironment</a>
<a href="?#ikEraseObject">ikEraseObject</a>
<a href="?#ikFindConfig">ikFindConfig</a>
<a href="?#ikGetElementBase">ikGetElementBase</a>
<a href="?#ikGetElementConstraints">ikGetElementConstraints</a>
<a href="?#ikGetElementFlags">ikGetElementFlags</a>
<a href="?#ikGetElementPrecision">ikGetElementPrecision</a>
<a href="?#ikGetElementWeights">ikGetElementWeights</a>
<a href="?#ikGetGroupCalculation">ikGetGroupCalculation</a>
<a href="?#ikGetGroupFlags">ikGetGroupFlags</a>
<a href="?#ikGetGroupHandle">ikGetGroupHandle</a>
<a href="?#ikGetGroupJointLimitHits">ikGetGroupJointLimitHits</a>
<a href="?#ikGetGroupJoints">ikGetGroupJoints</a>
<a href="?#ikGetJointDependency">ikGetJointDependency</a>
<a href="?#ikGetJointInterval">ikGetJointInterval</a>
<a href="?#ikGetJointLimitMargin">ikGetJointLimitMargin</a>
<a href="?#ikGetJointMatrix">ikGetJointMatrix</a>
<a href="?#ikGetJointMaxStepSize">ikGetJointMaxStepSize</a>
<a href="?#ikGetJointMode">ikGetJointMode</a>
<a href="?#ikGetJointPosition">ikGetJointPosition</a>
<a href="?#ikGetJointScrewLead">ikGetJointScrewLead</a>
<a href="?#ikGetJointTransformation">ikGetJointTransformation</a>
<a href="?#ikGetJointType">ikGetJointType</a>
<a href="?#ikGetJointWeight">ikGetJointWeight</a>
<a href="?#ikGetLastError">ikGetLastError</a>
<a href="?#ikGetObjectHandle">ikGetObjectHandle</a>
<a href="?#ikGetObjectMatrix">ikGetObjectMatrix</a>
<a href="?#ikGetObjectParent">ikGetObjectParent</a>
<a href="?#ikGetObjects">ikGetObjects</a>
<a href="?#ikGetObjectTransformation">ikGetObjectTransformation</a>
<a href="?#ikGetObjectType">ikGetObjectType</a>
<a href="?#ikGetTargetDummy">ikGetTargetDummy</a>
<a href="?#ikHandleGroups">ikHandleGroups</a>
<a href="?#ikLoad">ikLoad</a>
<a href="?#ikReleaseBuffer">ikReleaseBuffer</a>
<a href="?#ikSave">ikSave</a>
<a href="?#ikSetElementBase">ikSetElementBase</a>
<a href="?#ikSetElementConstraints">ikSetElementConstraints</a>
<a href="?#ikSetElementFlags">ikSetElementFlags</a>
<a href="?#ikSetElementPrecision">ikSetElementPrecision</a>
<a href="?#ikSetElementWeights">ikSetElementWeights</a>
<a href="?#ikSetGroupCalculation">ikSetGroupCalculation</a>
<a href="?#ikSetGroupFlags">ikSetGroupFlags</a>
<a href="?#ikSetJointDependency">ikSetJointDependency</a>
<a href="?#ikSetJointInterval">ikSetJointInterval</a>
<a href="?#ikSetJointLimitMargin">ikSetJointLimitMargin</a>
<a href="?#ikSetJointMaxStepSize">ikSetJointMaxStepSize</a>
<a href="?#ikSetJointMode">ikSetJointMode</a>
<a href="?#ikSetJointPosition">ikSetJointPosition</a>
<a href="?#ikSetJointScrewLead">ikSetJointScrewLead</a>
<a href="?#ikSetJointWeight">ikSetJointWeight</a>
<a href="?#ikSetObjectMatrix">ikSetObjectMatrix</a>
<a href="?#ikSetObjectParent">ikSetObjectParent</a>
<a href="?#ikSetObjectTransformation">ikSetObjectTransformation</a>
<a href="?#ikSetSphericalJointMatrix">ikSetSphericalJointMatrix</a>
<a href="?#ikSetSphericalJointQuaternion">ikSetSphericalJointQuaternion</a>
<a href="?#ikSettargetDummy">ikSetTargetDummy</a>
<a href="?#ikSwitchEnvironment">ikSwitchEnvironment</a></pre></td></tr>
<tr><td id="category" class="section">
<h2><a name="environment"></a>Environment functions and helpers</h2>
<pre class=lightGreyBox>
<a href="?#ikCreateEnvironment">ikCreateEnvironment</a>
<a href="?#ikEraseEnvironment">ikEraseEnvironment</a>
<a href="?#ikDuplicateEnvironment">ikDuplicateEnvironment</a>
<a href="?#ikSave">ikSave</a>
<a href="?#ikLoad">ikLoad</a>
<a href="?#ikSwitchEnvironment">ikSwitchEnvironment</a>
<a href="?#ikGetLastError">ikGetLastError</a>
<a href="?#ikReleaseBuffer">ikReleaseBuffer</a>
</pre>
<h2><a name="objects"></a>Objects</h2>
<pre class=lightGreyBox>
<a href="?#ikGetObjects">ikGetObjects</a>
<a href="?#ikGetObjectHandle">ikGetObjectHandle</a>
<a href="?#ikDoesObjectExist">ikDoesObjectExist</a>
<a href="?#ikEraseObject">ikEraseObject</a>
<a href="?#ikGetObjectParent">ikGetObjectParent</a>
<a href="?#ikSetObjectParent">ikSetObjectParent</a>
<a href="?#ikGetObjectTransformation">ikGetObjectTransformation</a>
<a href="?#ikSetObjectTransformation">ikSetObjectTransformation</a>
<a href="?#ikGetObjectType">ikGetObjectType</a>
<a href="?#ikGetObjectMatrix">ikGetObjectMatrix</a>
<a href="?#ikSetObjectMatrix">ikSetObjectMatrix</a>
</pre>
<h2><a name="dummies"></a>Dummies</h2>
<pre class=lightGreyBox>
<a href="?#ikCreateDummy">ikCreateDummy</a>
<a href="?#ikEraseObject">ikEraseObject</a>
<a href="?#ikGetTargetDummy">ikGetTargetDummy</a>
<a href="?#ikSetTargetDummy">ikSetTargetDummy</a>
</pre>
<h2><a name="joints"></a>Joints</h2>
<pre class=lightGreyBox>
<a href="?#ikCreateJoint">ikCreateJoint</a>
<a href="?#ikEraseObject">ikEraseObject</a>
<a href="?#ikGetJointPosition">ikGetJointPosition</a>
<a href="?#ikSetJointPosition">ikSetJointPosition</a>
<a href="?#ikGetJointMode">ikGetJointMode</a>
<a href="?#ikSetJointMode">ikSetJointMode</a>
<a href="?#ikGetJointInterval">ikGetJointInterval</a>
<a href="?#ikSetJointInterval">ikSetJointInterval</a>
<a href="?#ikGetJointDependency">ikGetJointDependency</a>
<a href="?#ikSetJointDependency">ikSetJointDependency</a>
<a href="?#ikGetJointWeight">ikGetJointWeight</a>
<a href="?#ikSetJointWeight">ikSetJointWeight</a>
<a href="?#ikGetJointLimitMargin">ikGetJointLimitMargin</a>
<a href="?#ikSetJointLimitMargin">ikSetJointLimitMargin</a>
<a href="?#ikGetJointMaxStepSize">ikGetJointMaxStepSize</a>
<a href="?#ikSetJointMaxStepSize">ikSetJointMaxStepSize</a>
<a href="?#ikGetJointScrewLead">ikGetJointScrewLead</a>
<a href="?#ikSetJointScrewLead">ikSetJointScrewLead</a>
<a href="?#ikGetJointTransformation">ikGetJointTransformation</a>
<a href="?#ikSetSphericalJointQuaternion">ikSetSphericalJointQuaternion</a>
<a href="?#ikGetJointType">ikGetJointType</a>
<a href="?#ikGetJointMatrix">ikGetJointMatrix</a>
<a href="?#ikSetSphericalJointMatrix">ikSetSphericalJointMatrix</a>
<a href="?#ikGetGroupJoints">ikGetGroupJoints</a>
</pre>
<h2><a name="ikGroups"></a>IK groups</h2>
<pre class=lightGreyBox>
<a href="?#ikCreateGroup">ikCreateGroup</a>
<a href="?#ikGetGroupHandle">ikGetGroupHandle</a>
<a href="?#ikDoesGroupExist">ikDoesGroupExist</a>
<a href="?#ikGetGroupFlags">ikGetGroupFlags</a>
<a href="?#ikSetGroupFlags">ikSetGroupFlags</a>
<a href="?#ikGetGroupCalculation">ikGetGroupCalculation</a>
<a href="?#ikGetGroupJointLimitHits">ikGetGroupJointLimitHits</a>
<a href="?#ikGetGroupJoints">ikGetGroupJoints</a>
<a href="?#ikSetGroupCalculation">ikSetGroupCalculation</a>
</pre>
<h2><a name="ikElements"></a>IK elements</h2>
<pre class=lightGreyBox>
<a href="?#ikAddElement">ikAddElement</a>
<a href="?#ikGetElementFlags">ikGetElementFlags</a>
<a href="?#ikSetElementFlags">ikSetElementFlags</a>
<a href="?#ikGetElementConstraints">ikGetElementConstraints</a>
<a href="?#ikSetElementConstraints">ikSetElementConstraints</a>
<a href="?#ikGetElementBase">ikGetElementBase</a>
<a href="?#ikSetElementBase">ikSetElementBase</a>
<a href="?#ikGetElementPrecision">ikGetElementPrecision</a>
<a href="?#ikSetElementPrecision">ikSetElementPrecision</a>
<a href="?#ikGetElementWeights">ikGetElementWeights</a>
<a href="?#ikSetElementWeights">ikSetElementWeights</a>
</pre>
<h2><a name="ikCalculation"></a>IK calculation</h2>
<pre class=lightGreyBox>
<a href="?#ikHandleGroups">ikHandleGroups</a>
<a href="?#ikFindConfig">ikFindConfig</a>
<a href="?#ikComputeGroupJacobian">ikComputeGroupJacobian</a>
<a href="?#ikComputeJacobian">ikComputeJacobian</a>
</pre>
</td></tr>
<tr><td id="commands" class="section">
<p class="subsectionBar">
<a name="ikAddIkElement" id="ikAddIkElement"></a><a name="ikAddElement" id="ikAddElement"></a>ikAddElement</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Adds a new IK element to an IK group.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikAddElement(int ikGroupHandle,int tipHandle,int* ikElementHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>tipHandle</strong>: the handle of the dummy object that should act as the tip in the IK element.</div>
<div><strong>ikElementHandle</strong>: the IK element handle in the IK group, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikComputeGroupJacobian" id="ikComputeGroupJacobian"></a>ikComputeGroupJacobian</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the Jacobian and error vector for an IK group</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikComputeGroupJacobian(int ikGroupHandle,std::vector<double>* jacobian,std::vector<double>* errorVect)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group</div>
<div><strong>jacobian</strong>: the jacobian in return (row major order). Each row corresponds to one constraint in following order: x, y, z, alpha, beta, gamma. Each column corresponds to one joint, from base to tip. Can be nullptr</div>
<div><strong>errorVect</strong>: the error vector between the target and the tip. Can be nullptr</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikComputeJacobian">ikComputeJacobian</a>, <a href="#ikHandleGroups">ikHandleGroups</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikComputeJacobian" id="ikComputeJacobian"></a>ikComputeJacobian</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Computes the Jacobian and error vector for a kinematic chain</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikComputeJacobian(int baseHandle,int jointHandle,int constraints,const C7Vector* tipPose,const C7Vector* targetPose,const C7Vector* constrBasePose,std::vector<double>* jacobian,std::vector<double>* errorVect)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>baseHandle</strong>: the handle of the base of the kinematic chain, or -1 for the world</div>
<div><strong>jointHandle</strong>: the handle of the last joint in the kinematic chain, when going from base to tip</div>
<div><strong>constraints</strong>: a combination of following is possible: ik_constraint_x, ik_constraint_y, ik_constraint_z, ik_constraint_alpha_beta, ik_constraint_gamma. For convenience we also have ik_constraint_position=ik_constraint_x|ik_constraint_y|ik_constraint_z, ik_constraint_orientation=ik_constraint_alpha_beta|ik_constraint_gamma, and ik_constraint_pose=ik_constraint_position|ik_constraint_orientation.</div>
<div><strong>tipPose</strong>: the pose of the tip object, relative to the world</div>
<div><strong>targetPose</strong>: the pose of the target object, relative to the world. Can be nullptr, in which case the targetPose is the same as the tipPose</div>
<div><strong>constrBasePose</strong>: the pose that should serve as the reference frame for positional constraints, or nullptr to use the base object instead</div>
<div><strong>jacobian</strong>: the jacobian in return (row major order). Each row corresponds to one constraint in following order: x, y, z, alpha, beta, gamma. Each column corresponds to one joint, from base to tip. Can be nullptr</div>
<div><strong>errorVect</strong>: the error vector between the target and the tip. Can be nullptr</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikComputeGroupJacobian">ikComputeGroupJacobian</a>, <a href="#ikHandleGroups">ikHandleGroups</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikCreateEnvironment" id="ikCreateEnvironment"></a>ikCreateEnvironment</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an new IK environment, and switches to it.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikCreateEnvironment(int* environmentHandle=nullptr,int flags=0)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>environmentHandle</strong>: the handle of the newly created environment.</div>
<div><strong>flags</strong>: keep at 0</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikEraseEnvironment">ikEraseEnvironment</a>, <a href="#ikSwitchEnvironment">ikSwitchEnvironment</a>, <a href="#ikDuplicateEnvironment">ikDuplicateEnvironment</a>, <a href="#ikLoad">ikLoad</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikCreateDummy" id="ikCreateDummy"></a>ikCreateDummy</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a dummy object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikCreateDummy(const char* dummyName/*=nullptr*/,int* dummyHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>dummyName</strong>: the name of the dummy.</div>
<div><strong>dummyHandle</strong>: the handle of the dummy, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikDoesObjectExist">ikDoesObjectExist</a>, <a href="#ikCreateJoint">ikCreateJoint</a>, <a href="#ikEraseObject">ikEraseObject</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikCreateIkGroup" id="ikCreateIkGroup"></a><a name="ikCreateGroup" id="ikCreateGroup"></a>ikCreateGroup</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates an IK group.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikCreateGroup(const char* ikGroupName/*=nullptr*/,int* ikGroupHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupName</strong>: the name of the IK group.</div>
<div><strong>ikGroupHandle</strong>: the handle of the IK group, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikDoesGroupExist">ikDoesGroupExist</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikCreateJoint" id="ikCreateJoint"></a>ikCreateJoint</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Creates a joint object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikCreateJoint(const char* jointName/*=nullptr*/,int jointType,int* jointHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>jointName</strong>: the name of the joint.</div>
<div><strong>jointType</strong>: the type of the joint. supported types are ik_jointtype_revolute, ik_jointtype_prismatic and ik_jointtype_spherical.</div>
<div><strong>jointHandle</strong>: the handle of the joint, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikDoesObjectExist">ikDoesObjectExist</a>, <a href="#ikCreateJoint">ikCreateDummy</a>, <a href="#ikEraseObject">ikEraseObject</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikDoesObjectExist" id="ikDoesObjectExist"></a>ikDoesObjectExist</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks whether an object exists, based on its name.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikDoesObjectExist(const char* objectName)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>objectName</strong>: the name of the object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true if the object exists.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikDoesIkGroupExist" id="ikDoesIkGroupExist"></a><a name="ikDoesGroupExist" id="ikDoesGroupExist"></a>ikDoesGroupExist</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks whether an IK group exists, based on its name.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikDoesGroupExist(const char* ikGroupName)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupName</strong>: the name of the IK group.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true if the IK group exists.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikGetGroupHandle">ikGetGroupHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikDuplicateEnvironment" id="ikDuplicateEnvironment"></a>ikDuplicateEnvironment</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Duplicate current IK environment. Can be used to operate on an environment without modifying the original environment</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikDuplicateEnvironment(int* newEnvironmentHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>newEnvironmentHandle</strong>: the handle of the newly created environment.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikEraseEnvironment">ikEraseEnvironment</a>, <a href="#ikSwitchEnvironment">ikSwitchEnvironment</a>, <a href="#ikDuplicateEnvironment">ikDuplicateEnvironment</a>, <a href="#ikCreateEnvironment">ikCreateEnvironment</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikEraseEnvironment" id="ikEraseEnvironment"></a>ikEraseEnvironment</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Erases an IK environment, and switches to another environment, if available.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikEraseEnvironment(int* switchedEnvironmentHandle=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>switchedEnvironmentHandle</strong>: the handle of the environment that was switched to, or -1 if there is no environment left.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikCreateEnvironment">ikCreateEnvironment</a>, <a href="#ikSwitchEnvironment">ikSwitchEnvironment</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikEraseObject" id="ikEraseObject"></a>ikEraseObject</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Erases an object.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikEraseObject(int objectHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>objectHandle</strong>: handle of the object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikGetObjectHandle">ikGetObjectHandle</a>, <a href="#ikCreateDummy">ikCreateDummy</a>, <a href="#ikCreateJoint">ikCreateJoint</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikFindConfig" id="ikFindConfig"></a>ikFindConfig</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Searches for a manipulator configuration that matches a given end-effector position/orientation in space. Search is randomized.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">int ikFindConfig(int ikGroupHandle,size_t jointCnt,const int* jointHandles,double thresholdDist,int maxSearchTimeInMs,double* retConfig,const double* metric=nullptr,bool(*validationCallback)(double*)=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>jointCnt</strong>: the number of joint handles provided in the jointHandles array.</div>
<div><strong>jointHandles</strong>: an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.</div>
<div><strong>thresholdDist</strong>: a distance indicating when IK should be computed in order to try to bring the tip onto the target: since the search algorithm proceeds by generating random configurations, many of them produce a tip pose that is too far from the target pose to run IK successfully. Choosing a large value will result in slow calculations, choosing a small value might produce a smaller subset of solutions. Distance between two poses is calculated using a metric (see metric argument below).</div>
<div><strong>maxSearchTimeInMs</strong>: the maximum time in milliseconds before this function returns.</div>
<div><strong>retConfig</strong>: an array with jointCnt entries, that will receive the IK calculated joint values, as specified by the jointHandles array.</div>
<div><strong>metric</strong>: an array to 4 values indicating a metric used to compute pose-pose distances: distance=sqrt((dx*metric[0])^2+(dy*metric[1])^2+(dz*metric[2])^2+(angle*metric[3])^2).</div>
<div><strong>validationCallback</strong>: a callback function taking as input argument the proposed joint values (i.e. a configuration), and as return value whether the configuration is valid (e.g. is not colliding).</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">-1 in case of an error, 0 if no valid configuration was found, 1 otherwise.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikComputeJacobian">ikComputeJacobian</a>, <a href="#ikDuplicateEnvironment">ikDuplicateEnvironment</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetConfigForTipPose" id="ikGetConfigForTipPose"></a>ikGetConfigForTipPose</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Deprecated. Use ikFindConfig instead.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">int ikGetConfigForTipPose(int ikGroupHandle,size_t jointCnt,const int* jointHandles,double thresholdDist,int maxIterations,double* retConfig,const double* metric=nullptr,bool(*validationCallback)(double*)=nullptr,const int* jointOptions=nullptr,const double* lowLimits=nullptr,const double* ranges=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>jointCnt</strong>: the number of joint handles provided in the jointHandles array.</div>
<div><strong>jointHandles</strong>: an array with jointCnt entries, that specifies the joint handles for the joints we wish to retrieve the values calculated by the IK.</div>
<div><strong>thresholdDist</strong>: a distance indicating when IK should be computed in order to try to bring the tip onto the target: since the search algorithm proceeds by generating random configurations, many of them produce a tip pose that is too far from the target pose to run IK successfully. Choosing a large value will result in slow calculations, choosing a small value might produce a smaller subset of solutions. Distance between two poses is calculated using a metric (see metric argument below).</div>
<div><strong>maxIterations</strong>: the maximum number of iterations before this function returns. Alternatively, one can specify an upper time limit, in milliseconds, after which the function returns with maxIterations=-timeLimitInMs.</div>
<div><strong>retConfig</strong>: an array with jointCnt entries, that will receive the IK calculated joint values, as specified by the jointHandles array.</div>
<div><strong>metric</strong>: an array to 4 values indicating a metric used to compute pose-pose distances: distance=sqrt((dx*metric[0])^2+(dy*metric[1])^2+(dz*metric[2])^2+(angle*metric[3])^2).</div>
<div><strong>validationCallback</strong>: a callback function taking as input argument the proposed joint values (i.e. a configuration), and as return value whether the configuration is valid (e.g. is not colliding).</div>
<div><strong>jointOptions</strong>: a bit-coded value corresponding to each specified joint handle. Bit 0 (i.e. 1) indicates the corresponding joint is dependent of another joint.</div>
<div><strong>lowLimits</strong>: an optional array pointing to different low limit values for each specified joint. This can be useful when you wish to explore a sub-set of the joint's intervals.</div>
<div><strong>ranges</strong>: an optional array pointing to different range values for each specified joint. This can be useful when you wish to explore a sub-set of the joint's intervals. If the range value is 0, then the lowLimit and range values are taken from the joint's properties. If the range value is negative, then the search interval will be centered around the current joint linear/angular position, with an extent of (-range).</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">-1 in case of an error, 0 if no valid configuration was found, 1 otherwise.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikComputeJacobian">ikComputeJacobian</a>, <a href="#ikDuplicateEnvironment">ikDuplicateEnvironment</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkElementBase" id="ikGetIkElementBase"></a><a name="ikGetElementBase" id="ikGetElementBase"></a>ikGetElementBase</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the base object of an IK element.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetElementBase(int ikGroupHandle,int ikElementHandle,int* baseHandle,int* constraintsBaseHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>ikElementHandle</strong>: the IK element handle, or X, where X=handleOfTipDummy|ik_handleflag_tipdummy (if several IK elements with the same tip dummy exist, then the first encountered will be selected).</div>
<div><strong>baseHandle</strong>: the handle of the base object, in return, or -1 if the world is the base.</div>
<div><strong>constraintsBaseHandle</strong>: the handle of the constraints base object, in return, relative to which the constraints are specified. Returns -1 if the constraints are relative to the base object.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetElementBase">ikSetElementBase</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkElementConstraints" id="ikGetIkElementConstraints"></a><a name="ikGetElementConstraints" id="ikGetElementConstraints"></a>ikGetElementConstraints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the constraints of an IK element.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetElementConstraints(int ikGroupHandle,int ikElementHandle,int* constraints)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>ikElementHandle</strong>: the IK element handle, or X, where X=handleOfTipDummy|ik_handleflag_tipdummy (if several IK elements with the same tip dummy exist, then the first encountered will be selected).</div>
<div><strong>constraints</strong>: the constraints, in return. A combination of following is possible: ik_constraint_x, ik_constraint_y, ik_constraint_z, ik_constraint_alpha_beta, ik_constraint_gamma. For convenience we also have ik_constraint_position=ik_constraint_x|ik_constraint_y|ik_constraint_z, ik_constraint_orientation=ik_constraint_alpha_beta|ik_constraint_gamma, and ik_constraint_pose=ik_constraint_position|ik_constraint_orientation.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetElementConstraints">ikSetElementConstraints</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkElementFlags" id="ikGetIkElementFlags"></a><a name="ikGetElementFlags" id="ikGetElementFlags"></a>ikGetElementFlags</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves various flags of an IK element.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetElementFlags(int ikGroupHandle,int ikElementHandle,int* flags)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>ikElementHandle</strong>: the IK element handle, or X, where X=handleOfTipDummy|ik_handleflag_tipdummy (if several IK elements with the same tip dummy exist, then the first encountered will be selected).</div>
<div><strong>flags</strong>: bit-coded flags, in return: bit0 set (1): the enabled state of the ik element.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetElementFlags">ikSetElementFlags</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkElementPrecision" id="ikGetIkElementPrecision"></a><a name="ikGetElementPrecision" id="ikGetElementPrecision"></a>ikGetElementPrecision</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the precision settings of an IK element.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetElementPrecision(int ikGroupHandle,int ikElementHandle,double* linearPrecision,double* angularPrecision)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>ikElementHandle</strong>: the IK element handle, or X, where X=handleOfTipDummy|ik_handleflag_tipdummy (if several IK elements with the same tip dummy exist, then the first encountered will be selected).</div>
<div><strong>linearPrecision</strong>: the required linear precision, in return.</div>
<div><strong>angularPrecision</strong>: the required angular precision, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetElementPrecision">ikSetElementPrecision</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkElementWeights" id="ikGetIkElementWeights"></a><a name="ikGetElementWeights" id="ikGetElementWeights"></a>ikGetElementWeights</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the desired linear and angular resolution weights of an IK element.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetElementWeights(int ikGroupHandle,int ikElementHandle,double* linearWeight,double* angularWeight,double* elementWeight=nullptr)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>ikElementHandle</strong>: the IK element handle, or X, where X=handleOfTipDummy|ik_handleflag_tipdummy (if several IK elements with the same tip dummy exist, then the first encountered will be selected).</div>
<div><strong>linearWeight</strong>: the linear resolution weight, in return.</div>
<div><strong>angularWeight</strong>: the angular resolution weight, in return.</div>
<div><strong>elementWeight</strong>: the overall weight for that IK element, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetElementWeights">ikSetElementWeights</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkGroupCalculation" id="ikGetIkGroupCalculation"></a><a name="ikGetGroupCalculation" id="ikGetGroupCalculation"></a>ikGetGroupCalculation</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves calculation properties for an IK group.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetGroupCalculation(int ikGroupHandle,int* method,double* damping,int* maxIterations)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>method</strong>: the resolution method, in return. Possible values are ik_method_pseudo_inverse (features a tiny bit of hard-coded damping), ik_method_undamped_pseudo_inverse, ik_method_damped_least_squares and ik_method_jacobian_transpose.</div>
<div><strong>damping</strong>: the damping, in case the resolution method is ik_method_damped_least_squares, in return.</div>
<div><strong>maxIterations</strong>: the maximum number of iterations, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetGroupCalculation">ikSetGroupCalculation</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkGroupFlags" id="ikGetIkGroupFlags"></a><a name="ikGetGroupFlags" id="ikGetGroupFlags"></a>ikGetGroupFlags</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves flags of an IK group.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetGroupFlags(int ikGroupHandle,int* flags)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>flags</strong>: the flags of the IK group, in return, bit-coded:</div>
<div class="tabTab">ik_group_enabled: the group's enabled state</div>
<div class="tabTab">ik_group_ignoremaxsteps: the joints' max step sizes are ignored. Otherwise, when detected, an interpolation factor (originally at 1.0) is successively divided by 2.0 until the max. step sizes are respected</div>
<div class="tabTab">ik_group_restoreonbadlintol: the IK world state is left untouched if the linear precision is not reached</div>
<div class="tabTab">ik_group_restoreonbadangtol: the IK world state is left untouched if the angular precision is not reached</div>
<div class="tabTab">ik_group_avoidlimits: joint limits are actively avoided</div>
<div class="tabTab">ik_group_stoponlimithit: calculation ends when a joint limit is hit</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetGroupFlags">ikSetGroupFlags</a>, <a href="#ikGetGroupHandle">ikGetGroupHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkGroupHandle" id="ikGetIkGroupHandle"></a><a name="ikGetGroupHandle" id="ikGetGroupHandle"></a>ikGetGroupHandle</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the handle of an IK group based on its name.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetGroupHandle(const char* ikGroupName,int* ikGroupHandle)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupName</strong>: the name of the IK group.</div>
<div><strong>ikGroupHandle</strong>: the returned IK group handle.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikDoesGroupExist">ikDoesGroupExist</a>, <a href="#ikCreateGroup">ikCreateGroup</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetIkGroupJointLimitHits" id="ikGetIkGroupJointLimitHits"></a><a name="ikGetGroupJointLimitHits" id="ikGetGroupJointLimitHits"></a>ikGetGroupJointLimitHits</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Checks which joints of an IK group hit a limit last time that IK group was handled</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetGroupJointLimitHits(int ikGroupHandle,std::vector<int>* jointHandles,std::vector<double>* underOrOvershots)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>jointHandles</strong>: the joint handles that that had joint limits under- or overshot. Can be null</div>
<div><strong>underOrOvershots</strong>: the corresponding under- or overshots, for each of the jointHandles. Can be null</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetGroupFlags">ikSetGroupFlags</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetGroupJoints" id="ikGetGroupJoints"></a>ikGetGroupJoints</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Returns the joint handles involved in the IK group calculation, i.e. one handle per Jacobian column (except with revolute joints that have 3 corresponding Jacobian columns)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetGroupJoints(int ikGroupHandle,std::vector<int>* jointHandles)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>ikGroupHandle</strong>: the handle of the IK group.</div>
<div><strong>jointHandles</strong>: the joint handles</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetJointDependency" id="ikGetJointDependency"></a>ikGetJointDependency</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves information about a possible joint dependency.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetJointDependency(int jointHandle,int* dependencyJointHandle,double* offset,double* mult)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>jointHandle</strong>: the handle of the joint.</div>
<div><strong>dependencyJointHandle</strong>: the handle of the dependency joint, in return.</div>
<div><strong>offset</strong>: the offset, in return. We have joint linear/angular position = dependency joint linear/angular position * mult + offset.</div>
<div><strong>mult</strong>: the multiplication factor, in return. We have joint linear/angular position = dependency joint linear/angular position * mult + offset.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetJointDependency">ikSetJointDependency</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>
</tr>
</table>
<br>
<p class="subsectionBar">
<a name="ikGetJointIkWeight" id="ikGetJointIkWeight"></a><a name="ikGetJointWeight" id="ikGetJointWeight"></a>ikGetJointWeight</p>
<table class="apiTable">
<tr class="apiTableTr">
<td class="apiTableLeftDescr">Description</td>
<td class="apiTableRightDescr">Retrieves the IK weight of a joint, i.e. the weight it has during IK resolution.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCSyn">Synopsis</td>
<td class="apiTableRightCSyn">bool ikGetJointWeight(int jointHandle,double* ikWeight)</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCParam">Arguments</td>
<td class="apiTableRightCParam">
<div><strong>jointHandle</strong>: the handle of the joint.</div>
<div><strong>ikWeight</strong>: the IK weight, in return.</div>
</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftCRet">Return value</td>
<td class="apiTableRightCRet">true in case of success.</td>
</tr>
<tr class="apiTableTr">
<td class="apiTableLeftDescr">See also</td>
<td class="apiTableRightDescr"><a href="#ikSetJointWeight">ikSetJointWeight</a>, <a href="#ikGetObjectHandle">ikGetObjectHandle</a></td>