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RobWorkProject
23.9.11-
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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. | |
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typedef rw::core::Ptr< ClosedFormIK > | Ptr |
smart pointer type to this class | |
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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... | |
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virtual | ~ClosedFormIK () |
Destructor. | |
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virtual | ~InvKinSolver () |
destructor | |
Additional Inherited Members | |
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static ClosedFormIK::Ptr | make (const rw::models::Device &device, const rw::kinematics::State &state) |
Closed-form IK solver for a device. More... | |
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ClosedFormIK () | |
Constructor. | |
Analytical inverse kinematics solver to the kinematics of a Universal Robots.
ClosedFormIKSolverUR | ( | const rw::core::Ptr< const rw::models::SerialDevice > | device, |
const rw::kinematics::State & | state | ||
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Construct new closed form solver for a Universal Robot.
device | [in] the device. |
state | [in] the state to use to extract dimensions. |
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virtual |
Returns the Tool Center Point (TCP) used when solving the IK problem.
Implements InvKinSolver.
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virtual |
Specifies whether to check joint limits before returning a solution.
check | [in] If true the method should perform a check that joints are within bounds. |
Implements InvKinSolver.
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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) )
baseTend | [in] Desired base to end transformation \( \robabx{}{desired}{\mathbf{T}}\) |
state | [in] State of the device from which to start the iterations |
Implements InvKinSolver.