Package org.robwork.sdurw_invkin

Class IterativeIK

  • Direct Known Subclasses:
    CCDSolver, IKMetaSolver, JacobianIKSolver, ParallelIKSolver
    public class IterativeIK
extends InvKinSolver
    Interface for iterative inverse kinematics algorithms

    The IterativeIK interface provides an interface for calculating
    the inverse kinematics of a device. 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 Detail

      • IterativeIK

        public IterativeIK​(long cPtr,
                   boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(IterativeIK obj)

      • setMaxError

        public void setMaxError​(double 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 double 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

      • makeDefault

        public static IterativeIKPtr makeDefault​(DevicePtr device,
                                         State state)
        Default iterative inverse kinematics solver for a device and
        state.

        Parameters:
        device - [in] Device for which to solve IK.
        state - [in] Fixed state for which IK is solved.