randomFloatingChain.getLeafBody().getBodyFixedFrame()); DdoglegInverseKinematicsCalculator calculator = new DdoglegInverseKinematicsCalculator(jacobian, 1.0, 2000, true, 1e-12,0.01,0.1, 0.0);
randomFloatingChain.getLeafBody().getBodyFixedFrame()); DdoglegInverseKinematicsCalculator calculator = new DdoglegInverseKinematicsCalculator(jacobian, 1.0, 2000, true, 1e-12,0.01,0.1, 0.1);
double acceptTolAngle = 0.02; double parameterChangePenalty = 1.0e-4; //0.1; inverseKinematicsCalculator = new DdoglegInverseKinematicsCalculator(leftHandJacobian, orientationDiscount, maxIterations, solveOrientation, convergeTolerance, acceptTolLoc, acceptTolAngle, parameterChangePenalty);