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Inverse Kinematics library

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Does anybody know of/have experience with any open source libraries for doing Inverse Kinematics? The license would need to allow it to be incorporated into a commerical product, and ideally it would be C++. Doing a quick Google search seems to reveal a real lack of such things - is there a reason why it's particularly hard to make a general purpose IK library, or am I missing something?

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The only open source IK library I know of is Peter Corke's (A very highly respected Australian Scientist/Researcher), MATLAB robotics toolbox. Given enough time it might be possible to convert this to native code, http://www.petercorke.com/Robotics%20Toolbox.html . IK can get pretty ugly, and it's nice if you don't have to worry about the intricacies of all of the math.

In some cases there isn't one clearly defined 'optimal' solution to a problem. In such cases it might make more sense to explore alternatives which use forward simulation to produce many approximate solutions very quickly. James Kuffner (http://www.kuffner.org/james/papers/) has some great papers on using RRTs as an alternative to IK for controlling simulated humans.

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