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InvKinSolver Class Referenceabstract

Interface for inverse kinematics algorithms. More...

#include <InvKinSolver.hpp>

Inherited by AmbiguityResolver, ClosedFormIK, and IterativeIK.

Public Types

typedef rw::common::Ptr< InvKinSolverPtr
 smart pointer type to this class
 
typedef rw::common::Ptr< const InvKinSolverCPtr
 smart pointer type to this const class
 

Public Member Functions

virtual ~InvKinSolver ()
 destructor
 
virtual std::vector< math::Qsolve (const rw::math::Transform3D<> &baseTend, const rw::kinematics::State &state) const =0
 Calculates the inverse kinematics. More...
 
virtual void setCheckJointLimits (bool check)=0
 Specifies whether to check joint limits before returning a solution. More...
 
virtual rw::common::Ptr< const rw::kinematics::FramegetTCP () const =0
 Returns the Tool Center Point (TCP) used when solving the IK problem. More...
 

Detailed Description

Interface for inverse kinematics algorithms.

The InvKinSolver 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.

Member Function Documentation

◆ getTCP()

virtual rw::common::Ptr< const rw::kinematics::Frame > getTCP ( ) const
pure virtual

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

Returns
The TCP Frame used when solving the IK.

Implemented in ParallelIKSolver, JacobianIKSolver, IKMetaSolver, PieperSolver, CCDSolver, ClosedFormIKSolverKukaIIWA, AmbiguityResolver, and ClosedFormIKSolverUR.

◆ setCheckJointLimits()

virtual void setCheckJointLimits ( bool  check)
pure virtual

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.

Implemented in ParallelIKSolver, JacobianIKSolver, IKMetaSolver, PieperSolver, CCDSolver, IKQPSolver, ClosedFormIKSolverKukaIIWA, AmbiguityResolver, and ClosedFormIKSolverUR.

◆ solve()

virtual std::vector<math::Q> solve ( const rw::math::Transform3D<> &  baseTend,
const rw::kinematics::State state 
) const
pure virtual

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.

Implemented in JacobianIKSolver, IKMetaSolver, ParallelIKSolver, PieperSolver, IKQPSolver, CCDSolver, ClosedFormIKSolverKukaIIWA, and ClosedFormIKSolverUR.


The documentation for this class was generated from the following file: