OmniGraph Node omni.graph.examples.cpp.SimpleIk¶
omni.graph.examples.cpp.SimpleIk Properties¶
Name |
Value |
---|---|
Version |
1 |
Extension |
omni.graph.examples.cpp |
Has State? |
True |
Implementation Language |
C++ |
Default Memory Type |
cpu |
Generated Code Exclusions |
None |
uiName |
Example Node: Simple IK |
Generated Class Name |
OgnIKDatabase |
Python Module |
omni.graph.examples.cpp |
omni.graph.examples.cpp.SimpleIk Description¶
Example node that employs a simple IK algorithm to match a three-joint limb to a goal
omni.graph.examples.cpp.SimpleIk Inputs¶
Name |
Type |
Default |
Required? |
Descripton |
---|---|---|---|---|
inputs:goal |
matrixd[4] |
[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [0.0, 0.0, 0.0, 1.0]] |
Y |
Transform of the IK goal |
uiName |
Goal Transform |
omni.graph.examples.cpp.SimpleIk State¶
Name |
Type |
Default |
Required? |
Descripton |
---|---|---|---|---|
state:ankle |
matrixd[4] |
None |
Y |
Computed transform of the ankle joint |
uiName |
Ankle Transform |
|||
state:hip |
matrixd[4] |
None |
Y |
Computed transform of the hip joint |
uiName |
Hip Transform |
|||
state:knee |
matrixd[4] |
None |
Y |
Computed transform of the knee joint |
uiName |
Knee Transform |