Revision history [back]

The orientation never can be "0 0 0" in all the cases. The correct input should be (for example): ./compute2 1 0 0 0.1 0 1 0 0.2 0 0 1 0.3

And you can use the generated iksolver.cpp, using it like a normal include. Respect to the use, there is a great example: ikfastdemo.cpp: https://github.com/davetcoleman/clam/blob/master/clam_ik/src/ikfastdemo.cpp

There you can find many ways to use the solver (IK, FK...)