Module skeletal_model::skeleton::solver
source · [−]Expand description
Contains the math necessary for the skeleton solver.
At a high level, the skeleton has inputs and outputs. Inputs are things like
Edge::input_rot_g, which is an (optional) constraint on the rotation of an
Edge. Outputs are things like Edge::output_rot_g, which needs to be solved
for.
The goal of the solver is to solve for all the outputs, using the inputs. For more
info, see the skeleton module.
Structs
Argument to
do_fk. Represents the neighbors of a PoppedNode.Argument to
do_fk. Represents the node that was just popped off of the traversal
queue. This node is already solved.Enums
A node neighboring
PoppedNode. This node may or may not already be solved, which
is why this is an enum.Functions
do_fk 🔒
Solves
Neighbors by applying forward-kinematics from PoppedNode. This actually
mutates the weights of the graph.