Kinematics Classes

Collaboration diagram for Kinematics Classes:

Classes
class	libnifalcon::FalconKinematic
class	libnifalcon::FalconKinematicStamper

Detailed Description

Kinematics classes provide a way to turn the joint angles we receive from the falcon into a corresponding cartesian coordinates (forward kinematics), and to go from effector position to joint angles (inverse kinematics). This information is used to calculate where the effector is in relation to a particular scene, and calculate the forces needed to render whatever is happening in that scene.