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Related nodes. Attributes.
Inverse kinematics solver node. It is the base class for all the ik
solvers.
An ikSolver node contains an inverse kinematics algorithm. It is
used by the ikHandle node. The (is-used) association between an
ikSolver node and an ikHandle node is made through the connection
from the message attribute (derived) of the ikSolver node to the
ikSolver attribute of the ikHandle node.
ikHandle nodes include the objectives and resources for the ik
solver.
The startJoint and endEffector attributes of the ikHandle defines
the resource: all the joints in the DAG from the joint connected
with the startJoint and the ikEffector connected with the
endEffector. Most ik solvers use the rotation attributes to meet
the objective. As an exception, ikSplineSolve may use the
translation attribute of the start joint.
Objectives may vary from solver to solver. Most solvers attempts to
find values for the resource attributes so that the endEffector's
world position/orientation coincides with that of the
ikHandle. ikSplineSolver, However, attempts to place the joint
chain on a curve associated with the ikHandle.
Details will be given on individual types of solvers.
This node is abstract
| Node name | Parents | MFn type | Compatible function sets |
|---|
| ikSolver | dependNode
| | |
Related nodes
joint, ikMCsolver, ikSplineSolver, ikSCsolver, ikRPsolver, ikPASolver, ikSystem, ikEffector, ikHandle
Attributes (2)
maxIterations, tolerance
| Long name (short name) | Type | Default | Flags |
|---|
|
maxIterations
(mxi)
| integer | 2147483647 |    |
|
|
tolerance
(tol)
| double | 0.00001 | |
|