Editing Inverse kinematics (section)

=== Heuristic methods ===

The inverse kinematics problem can also be approximated using heuristic methods. These methods perform simple, iterative operations to gradually lead to an approximation of the solution. The heuristic algorithms have low computational cost (return the final pose very quickly), and usually support joint constraints. The most popular heuristic algorithms are [[Coordinate descent|cyclic coordinate descent]] (CCD)<ref>D. G. Luenberger. 1989. Linear and Nonlinear Programming. Addison Wesley.</ref> and [https://doi.org/10.1016/j.gmod.2011.05.003 forward and backward reaching inverse kinematics] (FABRIK).<ref>A. Aristidou, and [[Joan Lasenby|J. Lasenby]]. 2011. [https://doi.org/10.1016/j.gmod.2011.05.003 FABRIK: A fast, iterative solver for the inverse kinematics problem]. Graph. Models 73, 5, 243–260.</ref>