InvKinSolver Class Reference

Interface for inverse kinematics algorithms. More...

#include <InvKinSolver.hpp>

Inherited by AmbiguityResolver, ClosedFormIK, and IterativeIK.

Public Types
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
virtual	~InvKinSolver ()
	destructor
virtual std::vector< math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const rw::kinematics::State &state) const =0
	Calculates the inverse kinematics. More...
virtual void	setCheckJointLimits (bool check)=0
	Specifies whether to check joint limits before returning a solution. More...
virtual rw::core::Ptr< const rw::kinematics::Frame >	getTCP () const =0
	Returns the Tool Center Point (TCP) used when solving the IK problem. More...

Detailed Description

Interface for inverse kinematics algorithms.

The InvKinSolver interface provides an interface for calculating the inverse kinematics of a device. That is to calculate \(\mathbf{q}\) such that \(\robabx{base}{end}{\mathbf{T}}(\mathbf{q})= \robabx{}{desired}{\mathbf{T}}\).

By default it solves the problem beginning at the robot base and ending with the frame defined as the end of the devices, and which is accessible through the Device::getEnd() method.

Member Function Documentation

getTCP()

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

pure virtual

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

Returns

The TCP Frame used when solving the IK.

Implemented in PieperSolver, ParallelIKSolver, JacobianIKSolver, IKMetaSolver, ClosedFormIKSolverUR, ClosedFormIKSolverKukaIIWA, CCDSolver, and AmbiguityResolver.

setCheckJointLimits()

virtual void setCheckJointLimits ( bool  check )

pure 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.

Implemented in IKQPSolver, PieperSolver, ParallelIKSolver, JacobianIKSolver, IKMetaSolver, ClosedFormIKSolverUR, ClosedFormIKSolverKukaIIWA, CCDSolver, and AmbiguityResolver.

solve()

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

pure 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.

Implemented in PieperSolver, JacobianIKSolver, IKMetaSolver, ClosedFormIKSolverUR, ClosedFormIKSolverKukaIIWA, CCDSolver, and ParallelIKSolver.

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

• InvKinSolver.hpp