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I was looking for a simple inverse Kinematic algorithm that doesn't depend on eigen(doesn't work on my machine + dependency conflict never fixed it)

Most of the code out in the internet is way to complex and has eigen3 as a Dependency.

If the code is in C or C++ it would be highly appreached!

Does anyone know of a code that fits those requirements?

My OS is debian lastest stable version (don't know the exact version).

Last time I was looking at code it required Eigen3 and setting it up was always complaining about problems.

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  • $\begingroup$ Is there a special reason why eigen does not run? Should work OK on Debian. $\endgroup$
    – 50k4
    Jan 18 at 18:42
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    $\begingroup$ was always complaining about problems. well okay, but what was it telling you? It's going to be really, really difficult for you to find code, for free, in C++, that does inverse kinematics, where that software also uses a homemade method for solving systems of equations. It would be a much, much better use of your time to find out what eigen needs than to find a kinematics library that doesn't use it. $\endgroup$
    – Chuck
    Jan 21 at 15:44
  • $\begingroup$ How general purpose do you need the IK library to be? (How complex is your arm?). Because if you have just a few joints, you can find simple solutions in textbooks and probably just write your own. But full-fledged IK for a 7 DOF arm is pretty complex... $\endgroup$
    – Ben
    Jan 23 at 20:29

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