🦾 IK 模块

MotrixSim 内置的 IK 模块，提供了高效易用的逆运动学求解功能.

• motrixsim.ik
  • DlsSolver
    • DlsSolver.solve()
  • GaussNewtonSolver
    • GaussNewtonSolver.solve()
  • IkChain
    • IkChain.get_bias_force()
    • IkChain.get_dof_pos()
    • IkChain.get_dof_vel()
    • IkChain.get_end_effector_jac()
    • IkChain.get_end_effector_pose()
    • IkChain.get_end_effector_vel()
    • IkChain.get_end_point_jac()
    • IkChain.get_inertia_matrix()
    • IkChain.get_link()
    • IkChain.num_dof_pos
    • IkChain.num_dof_vel
    • IkChain.num_links