jointCnt: the number of joint handles that are submitted in jointHandles.
jointHandles: an array containing jointCnt joint handles.
jointRangeSubdivisions: an array containing jointCnt joint range subdivisions. Can be NULL for default values.
jointMetricWeights: an array containing jointCnt joint metric weights. Can be NULL for default values.
options: bit-coded options. Not used for now (set to zero).
intParams: an optional array of 5 integer parameters (i.e. array can be NULL):
intParams[0]: the handle of the associated IK group.
intParams[1]: the self-collision entity 1.
intParams[2]: the self-collision entity 2.
intParams[3]: the robot-environment collision entity 1.
intParams[4]: the robot-environment collision entity 2.
floatParams: an optional array of 6 float parameters (i.e. array can be NULL):
floatParams[0]: the self-collision distance threshold (set to 0.0 for collision detection).
floatParams[1]: the robot-environment collision distance threshold (set to 0.0 for collision detection).
floatParams[2]-floatParams[5]: the Cartesian space metric for X, Y, Z and (alpha-beta-gamma).
reserved: reserved. Set to NULL.
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