Package org.robwork.sdurw_invkin

Class CCDSolver

java.lang.Object

org.robwork.sdurw_invkin.InvKinSolver

org.robwork.sdurw_invkin.IterativeIK

org.robwork.sdurw_invkin.CCDSolver

public class CCDSolver
extends IterativeIK

This inverse kinematics method is a heuristic search technique called
the Cyclic-Coordinate Descent method. The method attempts to minimize position
and orientation errors by varying individual joints at a time.

Notice that the CCDSolver only work on devices with 1-dof joints.

Constructor Summary

Constructors

Constructor	Description
CCDSolver(long cPtr, boolean cMemoryOwn)
CCDSolver(SerialDeviceCPtr device, State state)
CCDSolver(SerialDevice device, State state)	Constructor

Method Summary

Modifier and Type	Method	Description
void	delete()
static long	getCPtr(CCDSolver obj)
FrameCPtr	getTCP()	Returns the Tool Center Point (TCP) used when solving the IK problem.
void	setCheckJointLimits(boolean check)	Specifies whether to check joint limits before returning a solution.
void	setMaxLocalStep(double quatlength)	Sets the maximal size of a local step
VectorQ	solve(Transform3D baseTend, State state)	Example: CCDAlgorithm r; r.inverseKinematics(device, Ttarget);
boolean	solveLocal(Transform3D bTed, double maxError, State state, int maxIter)	performs a local search toward the the target bTed.

Methods inherited from class org.robwork.sdurw_invkin.IterativeIK

getCPtr, getMaxError, getMaxIterations, getProperties, makeDefault, setMaxError, setMaxIterations

Methods inherited from class org.robwork.sdurw_invkin.InvKinSolver

getCPtr

Methods inherited from class java.lang.Object

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

Constructor Detail

CCDSolver

public CCDSolver(long cPtr,
                 boolean cMemoryOwn)

CCDSolver

public CCDSolver(SerialDevice device,
                 State state)

Constructor

CCDSolver

public CCDSolver(SerialDeviceCPtr device,
                 State state)

Method Detail

getCPtr

public static long getCPtr(CCDSolver obj)

delete

public void delete()

Overrides:

delete in class IterativeIK

setMaxLocalStep

public void setMaxLocalStep(double quatlength)

Sets the maximal size of a local step

Parameters:

quatlength - [in] Maximal length for quartenion

solve

public VectorQ solve(Transform3D baseTend,
                     State state)

Example:

CCDAlgorithm r;

r.inverseKinematics(device, Ttarget);

Overrides:

solve in class InvKinSolver

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.

Note: The targets baseTend must be defined relative to the base of the
robot/device.

solveLocal

public boolean solveLocal(Transform3D bTed,
                          double maxError,
                          State state,
                          int maxIter)

performs a local search toward the 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

setCheckJointLimits

public void setCheckJointLimits(boolean check)

Description copied from class: InvKinSolver

Specifies whether to check joint limits before returning a solution.

Overrides:

setCheckJointLimits in class InvKinSolver

Parameters:

check - [in] If true the method should perform a check that joints are within
bounds.

getTCP

public FrameCPtr getTCP()

Description copied from class: InvKinSolver

Returns the Tool Center Point (TCP) used when solving the IK problem.

Overrides:

getTCP in class InvKinSolver

Returns:

The TCP Frame used when solving the IK.