ClosedFormIKSolverUR Class Reference

Analytical inverse kinematics solver to the kinematics of a Universal Robots. More...

#include <ClosedFormIKSolverUR.hpp>

Inherits ClosedFormIK.

Public Types
typedef rw::core::Ptr< ClosedFormIKSolverUR >	Ptr
	Smart pointer type to ClosedFormURSolver.
typedef rw::core::Ptr< const ClosedFormIKSolverUR >	CPtr
	Smart pointer type to const ClosedFormURSolver.
Public Types inherited from ClosedFormIK
typedef rw::core::Ptr< ClosedFormIK >	Ptr
	smart pointer type to this class
Public Types inherited from InvKinSolver
typedef rw::core::Ptr< InvKinSolver >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const InvKinSolver >	CPtr
	smart pointer type to this const class

Public Member Functions
	ClosedFormIKSolverUR (const rw::core::Ptr< const rw::models::SerialDevice > device, const rw::kinematics::State &state)
	Construct new closed form solver for a Universal Robot. More...
virtual	~ClosedFormIKSolverUR ()
	Destructor.
std::vector< rw::math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const rw::kinematics::State &state) const
	Calculates the inverse kinematics. More...
void	setCheckJointLimits (bool check)
	Specifies whether to check joint limits before returning a solution. More...
virtual rw::core::Ptr< const rw::kinematics::Frame >	getTCP () const
	Returns the Tool Center Point (TCP) used when solving the IK problem. More...
Public Member Functions inherited from ClosedFormIK
virtual	~ClosedFormIK ()
	Destructor.
Public Member Functions inherited from InvKinSolver
virtual	~InvKinSolver ()
	destructor

Additional Inherited Members
Static Public Member Functions inherited from ClosedFormIK
static ClosedFormIK::Ptr	make (const rw::models::Device &device, const rw::kinematics::State &state)
	Closed-form IK solver for a device. More...
Protected Member Functions inherited from ClosedFormIK
	ClosedFormIK ()
	Constructor.

Detailed Description

Analytical inverse kinematics solver to the kinematics of a Universal Robots.

Constructor & Destructor Documentation

ClosedFormIKSolverUR()

ClosedFormIKSolverUR	(	const rw::core::Ptr< const rw::models::SerialDevice >	device,
		const rw::kinematics::State &	state
	)

Construct new closed form solver for a Universal Robot.

Note

The dimensions will be automatically extracted from the device, using an arbitrary state.

Parameters

device	[in] the device.
state	[in] the state to use to extract dimensions.

Member Function Documentation

getTCP()

virtual rw::core::Ptr<const rw::kinematics::Frame> getTCP ( ) const

virtual

Returns the Tool Center Point (TCP) used when solving the IK problem.

Returns

The TCP Frame used when solving the IK.

Implements InvKinSolver.

setCheckJointLimits()

void setCheckJointLimits ( bool  check )

virtual

Specifies whether to check joint limits before returning a solution.

Parameters

check

[in] If true the method should perform a check that joints are within bounds.

Implements InvKinSolver.

solve()

std::vector<rw::math::Q> solve ( const rw::math::Transform3D< double > &  baseTend, const rw::kinematics::State &  state  ) const

virtual

Calculates the inverse kinematics.

Given a desired \(\robabx{}{desired}{\mathbf{T}}\) and the current state, the method solves the inverse kinematics problem.

If the algorithm is able to identify multiple solutions (e.g. elbow up and down) it will return all of these. Before returning a solution, they may be checked to be within the bounds of the configuration space. (See setCheckJointLimits(bool) )

Parameters

baseTend	[in] Desired base to end transformation \( \robabx{}{desired}{\mathbf{T}}\)
state	[in] State of the device from which to start the iterations

Returns

List of solutions. Notice that the list may be empty.

Note

The targets baseTend must be defined relative to the base of the robot/device.

Implements InvKinSolver.

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The documentation for this class was generated from the following file:

• ClosedFormIKSolverUR.hpp