Package org.robwork.sdurw_invkin

Class IterativeIKPtr

  • public class IterativeIKPtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • IterativeIKPtr

        public IterativeIKPtr​(long cPtr,
                      boolean cMemoryOwn)

      • IterativeIKPtr

        public IterativeIKPtr()
        Default constructor yielding a NULL-pointer.

      • IterativeIKPtr

        public IterativeIKPtr​(IterativeIK ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

        public IterativeIK deref()
        The pointer stored in the object.

      • __ref__

        public IterativeIK __ref__()
        Dereferencing operator.

      • getDeref

        public IterativeIK getDeref()
        Member access operator.

      • 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

      • 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 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.

      • solve

        public VectorQ solve​(Transform3D 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 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 \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.

      • 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.