Regular API function

simCreateIkGroup / sim.createIkGroup

Description Creates an IK group. See also sim.removeIkGroup and sim.createIkElement.
C synopsis simInt simCreateIkGroup(simInt options,const simInt* intParams,const simFloat* floatParams,const simVoid* reserved)
C parameters
options: bit-coded options:
bit 0 set (1): the group is inactive.
bit 1 set (2): joint limits are taken into account during calculation (i.e. only for redundant kinematics).
bit 2 set (4): restore if position not reached.
bit 3 set (8): restore if orientation not reached.
bit 4 set (16): do not ignore the joint's max. step sizes.
bit 5 set (32): the group is explicitely handled.
intParams: an optional array of 2 integer parameters (i.e. array can be NULL):
intParams[0]: the IK calculation method.
intParams[1]: the maximum number of iterations.
floatParams: an optional array of 4 float parameters (i.e. array can be NULL):
floatParams[0]: the DLS factor.
floatParams[1]: the joint limit weight.
floatParams[2]: the prismatic joint limit threshold.
floatParams[3]: the revolute joint limit threshold.
reserved: reserved. Set to NULL.
C return value
-1 if operation was not successful, otherwise the IK group handle.
Lua synopsis number ikGroupHandle=sim.createIkGroup(number options,table intParams=nil,table floatParams=nil)
Lua parameters
Same as C-function
Lua return values
Same as C-function

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