How to Use IKINEMA

A typical usage scenario for IKinema can be subdivided into 4 steps

  1. Import source skeleton and set up the solver.
  2. Create a number of tasks and initialise their targets.

WHILE (RUNTIME)

  1. Pass targets to the tasks and segments as they change and call

IKSolver::solve().

  1. Update the source skeleton with the solution.

END