Module type Ik.Solver

module type Solver = sig .. end

val skel : Skel.skel

val pos : Skel.position

val elementary_move : Skel.Constraints.t -> unit

Applies the constraints.

val elementary_move_precise : float option array -> unit

val begin_move : ?steps:int -> Skel.Constraints.t -> unit

Split a movement into small steps of length epsilon.

val begin_move_precise : ?steps:int -> float option array -> unit

val move : unit -> bool