newton.ik

Public inverse-kinematics API for defining objectives and solving IK problems.

Classes

IKJacobianType	Specifies the backend used for Jacobian computation in inverse kinematics.
IKObjective	Base class for inverse-kinematics objectives.
IKObjectiveJointLimit	Penalize violations of per-DoF joint limits.
IKObjectivePosition	Match the world-space position of a point on a link.
IKObjectiveRotation	Match the world-space orientation of a link frame.
IKOptimizer	Optimizer backends supported by IKSolver.
IKOptimizerLBFGS	L-BFGS optimizer for batched inverse kinematics.
IKOptimizerLM	Levenberg-Marquardt optimizer for batched inverse kinematics.
IKSampler	Sampling strategies used by IKSolver before optimization.
IKSolver	High-level inverse-kinematics front end with optional multi-seed sampling.