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feat: add simple inverse-kinematics solver for multibodies (#632)

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* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
This commit is contained in:
Sébastien Crozet
2024-05-25 10:36:34 +02:00
committed by GitHub
parent af1ac9baa2
commit 62379de9ec
22 changed files with 755 additions and 212 deletions
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2
src/dynamics/joint/multibody_joint/multibody_link.rs
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@@ -6,7 +6,7 @@ use crate::prelude::RigidBodyVelocity;
/// One link of a multibody.
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
#[derive(Clone)]
#[derive(Copy, Clone)]
pub struct MultibodyLink {
// FIXME: make all those private.
pub(crate) internal_id: usize,