# Simple inverse Kinematic algorithm

I was looking for a simple inverse Kinematic algorithm that does depend on eigen(does not 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.

• Is there a special reason why eigen does not run? Should work OK on Debian. – 50k4 Jan 18 at 18:42
• 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. – Chuck Jan 21 at 15:44
• 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... – Ben Jan 23 at 20:29