Package org.robwork.sdurw

Class IterativeIK

java.lang.Object

org.robwork.sdurw.InvKinSolver

org.robwork.sdurw.IterativeIK

Direct Known Subclasses:

IKMetaSolver, JacobianIKSolver

public class IterativeIK
extends InvKinSolver

Interface for iterative inverse kinematics algorithms

The IterativeIK interface provides an interface for calculating
the inverse kinematics of a device.

By default it solves the problem beginning at the robot base and
ending with the frame defined as the end of the devices, and which is
accessible through the Device::getEnd() method.

Constructor Summary

Constructors

Constructor	Description
IterativeIK(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(IterativeIK obj)
double	getMaxError()	Returns the maximal error for a solution
int	getMaxIterations()	Returns the maximal number of iterations
PropertyMap	getProperties()	Returns the PropertyMap
static IterativeIKPtr	makeDefault(DevicePtr device, State state)	Default iterative inverse kinematics solver for a device and state.
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

Methods inherited from class org.robwork.sdurw.InvKinSolver

getCPtr, getTCP, setCheckJointLimits, solve

Methods inherited from class java.lang.Object

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

Constructor Detail

IterativeIK

public IterativeIK(long cPtr,
                   boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(IterativeIK obj)

delete

public void delete()

Overrides:

delete in class InvKinSolver

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 static 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.