Package org.robwork.sdurw

Class ClosedFormIKSolverUR

java.lang.Object

org.robwork.sdurw.InvKinSolver

org.robwork.sdurw.ClosedFormIK

org.robwork.sdurw.ClosedFormIKSolverUR

public class ClosedFormIKSolverUR
extends ClosedFormIK

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

Constructor Summary

Constructors

Constructor	Description
ClosedFormIKSolverUR(long cPtr, boolean cMemoryOwn)
ClosedFormIKSolverUR(SerialDeviceCPtr device, 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.

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(ClosedFormIKSolverUR obj)
FrameCPtr	getTCP()	Returns the Tool Center Point (TCP) used when solving the IK problem.
void	setCheckJointLimits(boolean check)	Specifies whether to check joint limits before returning a solution.
VectorQ	solve(Transform3Dd baseTend, State state)	Calculates the inverse kinematics Given a desired transformation and the current state, the method solves the inverse kinematics problem.

Methods inherited from class org.robwork.sdurw.ClosedFormIK

getCPtr, make

Methods inherited from class org.robwork.sdurw.InvKinSolver

getCPtr

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ClosedFormIKSolverUR

public ClosedFormIKSolverUR(long cPtr,
                            boolean cMemoryOwn)

ClosedFormIKSolverUR

public ClosedFormIKSolverUR(SerialDeviceCPtr device,
                            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.

Method Detail

getCPtr

public static long getCPtr(ClosedFormIKSolverUR obj)

delete

public void delete()

Overrides:

delete in class ClosedFormIK

solve

public VectorQ solve(Transform3Dd baseTend,
                     State state)

Calculates the inverse kinematics

Given a desired transformation
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) )

Overrides:

solve in class InvKinSolver

Parameters:

baseTend - [in] Desired base to end transformation.

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.

setCheckJointLimits

public void setCheckJointLimits(boolean check)

Specifies whether to check joint limits before returning a solution.

Overrides:

setCheckJointLimits in class InvKinSolver

Parameters:

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

getTCP

public FrameCPtr getTCP()

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

Overrides:

getTCP in class InvKinSolver

Returns:

The TCP Frame used when solving the IK.