Package org.robwork.sdurw_invkin
Class ClosedFormIK
- java.lang.Object
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- org.robwork.sdurw_invkin.InvKinSolver
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- org.robwork.sdurw_invkin.ClosedFormIK
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- Direct Known Subclasses:
ClosedFormIKSolverKukaIIWA
,ClosedFormIKSolverUR
,PieperSolver
public class ClosedFormIK extends InvKinSolver
Interface for closed form inverse kinematics algorithms.
The ClosedFormIK interface provides an interface for calculating the
inverse kinematics of a device. That is to calculate the solutions
\mathbf{q}_i, i=0,\ldots,, such that
\robabx{base}{end}{\mathbf{T}}(\mathbf{q}_i)= \robabx{}{desired}{\mathbf{T}}.
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.
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Constructor Summary
Constructors Constructor Description ClosedFormIK(long cPtr, boolean cMemoryOwn)
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description void
delete()
static long
getCPtr(ClosedFormIK obj)
static ClosedFormIKPtr
make(Device device, State state)
Closed-form IK solver for a device.
The device must be a serial device with 6 revolute joints described
by DH parameters.
The IK solver is currently implemented in terms of PieperSolver.-
Methods inherited from class org.robwork.sdurw_invkin.InvKinSolver
getCPtr, getTCP, setCheckJointLimits, solve
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Method Detail
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getCPtr
public static long getCPtr(ClosedFormIK obj)
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delete
public void delete()
- Overrides:
delete
in classInvKinSolver
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make
public static ClosedFormIKPtr make(Device device, State state)
Closed-form IK solver for a device.
The device must be a serial device with 6 revolute joints described
by DH parameters.
The IK solver is currently implemented in terms of PieperSolver. See
the documentation of PieperSolver for the specific requirements for
the DH parameters.
An exception is thrown if closed-form IK for the device is not
supported, except that all such cases are currently not discovered.
You should check for yourself that the closed-form IK for the device
is correct.
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