InverseKinematics

Two linked Robotic arm Inverse Kinematics with Swift 5.

Formulas

I made a public google spreadsheet to show up the formula for two linked robotic arm.

Usage

        let baseArm = Arm(len: 200)
        let arm = Arm(len: 250)
        
        baseArm.linkedArm = arm
        
        robot = Robot(baseArm: baseArm, view:robotView) // give a robotview to the robot. to make it visible. to make it practical.
        robot[0].angle = 45.0
        robot[1].angle = 45.0
        robot.draw()

Test

The code is unit tested. (more coverage appreciated.)

For any idea or contribution, please DT me. @erkekin