Kinematics APIs

Methods related to the kinematic calculations are provided in this section. Note that some methods are for use in the serial systems (unconstrained), while the others are specifically for use in the parallel (closed-loop) systems.

[get_num_joints](#get_num_joints) returns the degrees of freedom of the model

calc_EndEffectorJacobian computes the point Jacobian for a point on a body

calc_JacobianConstrained computes the Jacobian for the given constraint set

calc_EndEffectorVel computes the cartesian velocity of a point on a body

calc_InverseKinematics computes the inverse kinematics iteratively using a damped Levenberg-Marquardt method

calc_ForwardKinematics computes the cartesian position of a point on a body relative to the base (world)