ClosedFormIK (RobWork Java API Documentation)

java.lang.Object
- org.robwork.sdurw.InvKinSolver
- - org.robwork.sdurw.ClosedFormIK

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.

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

ClosedFormIK(long cPtr, boolean cMemoryOwn)

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.InvKinSolver
getCPtr, getTCP, setCheckJointLimits, solve

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Constructor Detail
  - ClosedFormIK
```
public ClosedFormIK(long cPtr,
                    boolean cMemoryOwn)
```
- Method Detail
  - getCPtr
```
public static long getCPtr(ClosedFormIK obj)
```
  - delete
```
public void delete()
```
    Overrides:
    
    delete in class InvKinSolver
  - 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.