Class ClosedFormIKSolverURCPtr


  • public class ClosedFormIKSolverURCPtr
    extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.
    • Constructor Detail

      • ClosedFormIKSolverURCPtr

        public ClosedFormIKSolverURCPtr​(long cPtr,
                                        boolean cMemoryOwn)
      • ClosedFormIKSolverURCPtr

        public ClosedFormIKSolverURCPtr()
        Default constructor yielding a NULL-pointer.
      • ClosedFormIKSolverURCPtr

        public ClosedFormIKSolverURCPtr​(ClosedFormIKSolverUR ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.
    • Method Detail

      • delete

        public void delete()
      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.
      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null
      • 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) )

        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.
      • getTCP

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

        Returns:
        The TCP Frame used when solving the IK.