Wraps a InvKinSolver and searches for ambiguities due to joint able to rotate \( 2 \ pi \) or more. More...

#include <AmbiguityResolver.hpp>

Public Member Functions
	AmbiguityResolver (const rw::core::Ptr< rw::invkin::InvKinSolver > &invkin, rw::core::Ptr< rw::models::JointDevice > device)
	Constructs an AmbiguityResolver. More...

	~AmbiguityResolver (void)
	Destructor.

virtual std::vector< rw::math::Q >	solve (const rw::math::Transform3D< double > &baseTend, const class rw::kinematics::State &state) const
	Calls the InvKinSolver provided and resolves ambiguities. More...

virtual void	setCheckJointLimits (bool check)
	No effect. The AmbiguityResolver always tests for joint limits.

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 InvKinSolver
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...

Additional Inherited Members
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

Detailed Description

Wraps a InvKinSolver and searches for ambiguities due to joint able to rotate \( 2 \ pi \) or more.

For each solution \(\mathbf{q}\) the method tries to see if a \( j \) exists s.t. \( \mathbf{q}(i)=\mathbf{q}(i)+j * 2 \ pi \) is a valid solution.

The AmbiguityResolver always tests for joint limits.

Constructor & Destructor Documentation

◆ AmbiguityResolver()

AmbiguityResolver	(	const rw::core::Ptr< rw::invkin::InvKinSolver > &	invkin,
		rw::core::Ptr< rw::models::JointDevice >	device
	)

Constructs an AmbiguityResolver.

Parameters

invkin	[in] The inverse kinematics solver to obtain solutions from
device	[in] the device for which to calculate inverse kinematics

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.

◆ solve()

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

virtual

Calls the InvKinSolver provided and resolves ambiguities.

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) )