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The marker weights (wi's) and coordinate weights (ωj's) are specified in the <IKMarkerTask> and <IKCoordinateTask> tags, respectively. These are all specified within a single <IKTaskSet> tag, as will be outlined in __40__ How to Use the IK Tool. This least squares problem is solved using a general quadratic programming solver, with a convergence criterion of 0.0001 and a limit of 1000 iterations. These are currently fixed values that cannot be changed in the XML files.
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Next: __40__ How to Use the IK Tool Previous: __40__ Getting Started with Inverse Kinematics Home: __40__ Inverse Kinematics |