Package org.robwork.sdurw

Class ClosedFormIKSolverURPtr

java.lang.Object

org.robwork.sdurw.ClosedFormIKSolverURPtr

public class ClosedFormIKSolverURPtr
extends java.lang.Object

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

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
ClosedFormIKSolverUR	__ref__()	Dereferencing operator.
void	delete()
ClosedFormIKSolverUR	deref()	The pointer stored in the object.
boolean	equals(ClosedFormIKSolverUR p)
static long	getCPtr(ClosedFormIKSolverURPtr obj)
ClosedFormIKSolverUR	getDeref()	Member access operator.
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
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.
void	setCheckJointLimits(boolean check)	Specifies whether to check joint limits before returning a solution.
VectorQ	solve(Transform3Dd baseTend, State state)	Calculates the inverse kinematics Given a desired transformation 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

ClosedFormIKSolverURPtr

public ClosedFormIKSolverURPtr(long cPtr,
                               boolean cMemoryOwn)

ClosedFormIKSolverURPtr

public ClosedFormIKSolverURPtr()

Default constructor yielding a NULL-pointer.

ClosedFormIKSolverURPtr

public ClosedFormIKSolverURPtr(ClosedFormIKSolverUR ptr)

Do not take ownership of ptr.

ptr can be null.

The constructor is implicit on purpose.

Method Detail

getCPtr

public static long getCPtr(ClosedFormIKSolverURPtr obj)

delete

public void delete()

deref

public ClosedFormIKSolverUR deref()

The pointer stored in the object.

__ref__

public ClosedFormIKSolverUR __ref__()

Dereferencing operator.

getDeref

public ClosedFormIKSolverUR getDeref()

Member access operator.

equals

public boolean equals(ClosedFormIKSolverUR 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 transformation
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.

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.

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.

make

public 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.