Consider making ChainSolver public

gkjohnson / closed-chain-ik-js

A generalized inverse kinematics solver that supports closed chains for parallel kinematics systems, dynamic reconfiguration, and arbitrary joint configuration based on damped least squares error minimization techniques

https://gkjohnson.github.io/closed-chain-ik-js/dist/index.html

Apache License 2.0

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Consider making ChainSolver public #72

Open gkjohnson opened 3 years ago

gkjohnson commented 3 years ago

For custom sets of system solves or sub system solves. For example:

const chainSolver = new ChainSolver( customJointsAndGoals );

Useful if you just want to solve for one arm on robonaut for example without solving the rest of the system