Regular API function

simCreateIkGroup / sim.createIkGroup

Description
Deprecated. Use the kinematic plugin functionality instead.
Creates an IK group.
C/C++
synopsis
int simCreateIkGroup(int options,const int* intParams,const double* floatParams,const void* reserved)
C/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 explicitly handled.
intParams: an optional array of 2 integer parameters (i.e. array can be nullptr):
intParams[0]: the IK calculation method.
intParams[1]: the maximum number of iterations.
floatParams: an optional array of 4 double parameters (i.e. array can be nullptr):
floatParams[0]: the damping 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 nullptr.
C/C++
return value
-1 if operation was not successful, otherwise the IK group handle.
Lua
synopsis
int ikGroupHandle=sim.createIkGroup(int options,int[] intParams=nil,float[] floatParams=nil)
Lua
parameters
Similar to the C-function counterpart
Lua
return values
Similar to the C-function counterpart