Package org.robwork.sdurw_invkin

Class IterativeMultiIK

java.lang.Object

org.robwork.sdurw_invkin.IterativeMultiIK

Direct Known Subclasses:

JacobianIKSolverM

public class IterativeMultiIK
extends java.lang.Object

Interface for iterative inverse kinematics algorithms for problems
or devices that utilize more than one end-effector.

The IterativeMultiIK interface provides an interface for calculating
the inverse kinematics of a device with multiple end-effectors. That is
to calculate
\mathbf{q} such that \robabx{base}{end}{\mathbf{T}}(\mathbf{q})= \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.

Constructor Summary

Constructors

Constructor	Description
IterativeMultiIK(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(IterativeMultiIK obj)
vector_d	getMaxError()	Returns the maximal error for a solution
int	getMaxIterations()	Returns the maximal number of iterations
PropertyMap	getProperties()	Returns the PropertyMap
void	setMaxError(vector_d 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
VectorQ	solve(SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t baseTend, State state)	Calculates the inverse kinematics Given a desired \robabx{}{desired}{\mathbf{T}} and the current state, the method solves the inverse kinematics problem.

Methods inherited from class java.lang.Object

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

Constructor Detail

IterativeMultiIK

public IterativeMultiIK(long cPtr,
                        boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(IterativeMultiIK obj)

delete

public void delete()

solve

public VectorQ solve(SWIGTYPE_p_std__vectorT_rw__math__Transform3DT_double_t_t baseTend,
                     State state)

Calculates the inverse kinematics

Given a desired \robabx{}{desired}{\mathbf{T}}
and the current state, the method solves the inverse kinematics
problem. If no solution is found with the required precision and
within the specified number of iterations it will return an empty
list.

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,
it is checked to be within the bounds of the configuration space.

Parameters:

baseTend - [in] Desired base to end transformation \robabx{}{desired}{\mathbf{T}}

state - [in] State of the device from which to start the
iterations

Returns:

List of solutions. Notice that the list may be empty.

setMaxError

public void setMaxError(vector_d 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 vector_d 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