Package org.robwork.sdurw

Class IKMetaSolverPtr

java.lang.Object

org.robwork.sdurw.IKMetaSolverPtr

public class IKMetaSolverPtr
extends java.lang.Object

Ptr stores a pointer and optionally takes ownership of the value.

Constructor Summary

Constructors

Constructor	Description
IKMetaSolverPtr()	Default constructor yielding a NULL-pointer.
IKMetaSolverPtr(long cPtr, boolean cMemoryOwn)
IKMetaSolverPtr(IKMetaSolver ptr)	Do not take ownership of ptr. ptr can be null. The constructor is implicit on purpose.

Method Summary

Modifier and Type	Method	Description
IKMetaSolver	__ref__()	Dereferencing operator.
void	delete()
IKMetaSolver	deref()	The pointer stored in the object.
boolean	equals(IKMetaSolver p)
static long	getCPtr(IKMetaSolverPtr obj)
IKMetaSolver	getDeref()	Member access operator.
double	getMaxError()	Returns the maximal error for a solution
int	getMaxIterations()	Returns the maximal number of iterations
PropertyMap	getProperties()	Returns the PropertyMap
FrameCPtr	getTCP()	Returns the Tool Center Point (TCP) used when solving the IK problem.
boolean	isNull()	checks if the pointer is null
boolean	isShared()	check if this Ptr has shared ownership or none ownership
IterativeIKPtr	makeDefault(DevicePtr device, State state)	Default iterative inverse kinematics solver for a device and state.
void	setCheckJointLimits(boolean check)	Specifies whether to check joint limits before returning a solution.
void	setMaxAttempts(long maxAttempts)	Sets up the maximal number of attempts
void	setMaxError(double maxError)	Sets the maximal error for a solution The error between two transformations is defined as the maximum of infinite-norm of the positional error and the angular error encoded as EAA.
void	setMaxIterations(int maxIterations)	Sets the maximal number of iterations allowed
void	setProximityLimit(double limit)	Sets the distance for which two solutions are considered the same. For distance measure an infinite norm is used.
void	setStopAtFirst(boolean stopAtFirst)	Sets whether to stop searching after the first 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.
VectorQ	solve(Transform3Dd baseTend, State state, long cnt, boolean stopatfirst)	Solves the inverse kinematics problem Tries to solve the inverse kinematics problem using the iterative inverse kinematics solver provided in the constructor.

Methods inherited from class java.lang.Object

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

Constructor Detail

IKMetaSolverPtr

public IKMetaSolverPtr(long cPtr,
                       boolean cMemoryOwn)

IKMetaSolverPtr

public IKMetaSolverPtr()

Default constructor yielding a NULL-pointer.

IKMetaSolverPtr

public IKMetaSolverPtr(IKMetaSolver ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(IKMetaSolverPtr obj)

delete

public void delete()

deref

public IKMetaSolver deref()

The pointer stored in the object.

__ref__

public IKMetaSolver __ref__()

Dereferencing operator.

getDeref

public IKMetaSolver getDeref()

Member access operator.

equals

public boolean equals(IKMetaSolver p)

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.

Searches for a valid solution using the parameters set in the IKMetaSolver

solve

public VectorQ solve(Transform3Dd baseTend,
                     State state,
                     long cnt,
                     boolean stopatfirst)

Solves the inverse kinematics problem

Tries to solve the inverse kinematics problem using the iterative
inverse kinematics solver provided in the constructor. It tries at
most cnt times and can either be stopped after the first solution
is found or continue to search for solutions. If multiple solutions
are returned there might be duplicates in the list.

Parameters:

baseTend - [in] Desired base to end transform

state - [in] State of the workcell

cnt - [in] Maximal number of attempts

stopatfirst - [in] If true the method will return after the first
solution is found. If false it will continue searching for more solution
until the maximal number of attemps is met.

setMaxAttempts

public void setMaxAttempts(long maxAttempts)

Sets up the maximal number of attempts

Parameters:

maxAttempts - [in] Maximal number of attempts

setStopAtFirst

public void setStopAtFirst(boolean stopAtFirst)

Sets whether to stop searching after the first solution

Parameters:

stopAtFirst - [in] True to stop after first solution has been found

setProximityLimit

public void setProximityLimit(double limit)

Sets the distance for which two solutions are considered the same.

For distance measure an infinite norm is used. Default value is set to 1e-5.

Set limit < 0 to allow doublets in the solution.

Parameters:

limit - [in] The proximity limit.

setCheckJointLimits

public void setCheckJointLimits(boolean check)

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.

setMaxError

public void setMaxError(double maxError)

Sets the maximal error for a solution

The error between two transformations is defined as the maximum of infinite-norm
of the positional error and the angular error encoded as EAA.

Parameters:

maxError - [in] the maxError. It will be assumed that maxError > 0

getMaxError

public double getMaxError()

Returns the maximal error for a solution

Returns:

Maximal error

setMaxIterations

public void setMaxIterations(int maxIterations)

Sets the maximal number of iterations allowed

Parameters:

maxIterations - [in] maximal number of iterations

getMaxIterations

public int getMaxIterations()

Returns the maximal number of iterations

getProperties

public PropertyMap getProperties()

Returns the PropertyMap

Returns:

Reference to the PropertyMap

makeDefault

public IterativeIKPtr makeDefault(DevicePtr device,
                                  State state)

Default iterative inverse kinematics solver for a device and
state.

Parameters:

device - [in] Device for which to solve IK.

state - [in] Fixed state for which IK is solved.

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.