C++ Inverse Kinematic Algorithm / library which includes method for IK when position of several nodes in chain known

Question

I am looking for ideally a c++ library / code (but if not at least an algorithm) that solves the IK problem for a given chain of n nodes, of which estimates for the position of k nodes (where k < n) in the chain are known.

Any help much appreciated.

Answer 1

This is possible using an iterative IK algorithm, such as Cyclic Coordinate Decent.