About the BLI module
This module allows you to create segments and form them into tree. You can then define a goal points that the end of a given segment should attempt to reach - an inverse kinematic problem. This module will then modify the segments in the tree in order to get the as near as possible to the goal. This solver uses an inverse jacobian method to find a solution.
Known issues with BLI
- There is currently no support for joint constraints in the solver. This is within the realms of possibility - please ask if this functionality is required.
- The solver is slow, inverse jacobian methods in general give 'smooth' solutions and the method is also very flexible, it does not rely on specific angle parameterization and can be extended to deal with different joint types and joint constraints. However it is not suitable for real time use. Other algorithms exist which are more suitable for real-time applications, please ask if this functionality is required.
Dependencies
This module only depends on Moto.