Package org.robwork.sdurw

Class JacobianIKSolverPtr

java.lang.Object

org.robwork.sdurw.JacobianIKSolverPtr

public class JacobianIKSolverPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
JacobianIKSolver	__ref__()	Dereferencing operator.
void	delete()
JacobianIKSolver	deref()	The pointer stored in the object.
boolean	equals(JacobianIKSolver p)
static long	getCPtr(JacobianIKSolverPtr obj)
JacobianIKSolver	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	setClampToBounds(boolean enableClamping)	enables clamping of the solution such that solution always is within joint limits
void	setEnableInterpolation(boolean enableInterpolation)	the solver may fail or be very slow if the the solution is too far from the initial configuration.
void	setInterpolatorStep(double interpolatorStep)	sets the maximal step length that is allowed on the local search towards the solution.
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	setSolverType(JacobianIKSolver.JacobianSolverType type)	set the type of solver to use for stepping toward a solution
VectorQ	solve(Transform3Dd baseTend, State state)	Calculates the inverse kinematics Given a desired transform and the current state, the method solves the inverse kinematics problem.
boolean	solveLocal(Transform3Dd bTed, double maxError, State state, int maxIter)	performs a local search toward the target bTed.

Methods inherited from class java.lang.Object

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

Constructor Detail

JacobianIKSolverPtr

public JacobianIKSolverPtr(long cPtr,
                           boolean cMemoryOwn)

JacobianIKSolverPtr

public JacobianIKSolverPtr()

Default constructor yielding a NULL-pointer.

JacobianIKSolverPtr

public JacobianIKSolverPtr(JacobianIKSolver ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(JacobianIKSolverPtr obj)

delete

public void delete()

deref

public JacobianIKSolver deref()

The pointer stored in the object.

__ref__

public JacobianIKSolver __ref__()

Dereferencing operator.

getDeref

public JacobianIKSolver getDeref()

Member access operator.

equals

public boolean equals(JacobianIKSolver 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 transform
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.

setInterpolatorStep

public void setInterpolatorStep(double interpolatorStep)

sets the maximal step length that is allowed on the
local search towards the solution.

Parameters:

interpolatorStep - [in] the interpolation step.

setEnableInterpolation

public void setEnableInterpolation(boolean enableInterpolation)

the solver may fail or be very slow if the the solution is too far from the
initial configuration. This function enables the use of via points generated using
an interpolation from initial end effector configuration to the goal target.

Parameters:

enableInterpolation - [in] set true to enable interpolation, false otherwise

solveLocal

public boolean solveLocal(Transform3Dd bTed,
                          double maxError,
                          State state,
                          int maxIter)

performs a local search toward the target bTed. No via points
are generated to support the convergence and robustness.

Parameters:

bTed - [in] the target end pose

maxError - [in] the maximal allowed error

state - [in/out] the starting position for the search. The end position will
also be saved in this state.

maxIter - [in] max number of iterations

Returns:

true if error is below max error

Note: the result will be saved in state

setClampToBounds

public void setClampToBounds(boolean enableClamping)

enables clamping of the solution such that solution always is within joint limits

Parameters:

enableClamping - [in] true to enable clamping, false otherwise

setSolverType

public void setSolverType(JacobianIKSolver.JacobianSolverType type)

set the type of solver to use for stepping toward a solution

Parameters:

type - [in] the type of jacobian solver

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.