IterativeIK Class Reference

Interface for iterative inverse kinematics algorithms. More...

#include <IterativeIK.hpp>

Inherits InvKinSolver.

Inherited by CCDSolver, IKMetaSolver, JacobianIKSolver, ParallelIKSolver, and IKQPSolver.

Public Types
typedef rw::core::Ptr< IterativeIK >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const IterativeIK >	CPtr
	smart pointer type to this const class
Public Types inherited from InvKinSolver
typedef rw::core::Ptr< InvKinSolver >	Ptr
	smart pointer type to this class
typedef rw::core::Ptr< const InvKinSolver >	CPtr
	smart pointer type to this const class

Public Member Functions
virtual	~IterativeIK ()
	Destructor.
virtual void	setMaxError (double maxError)
	Sets the maximal error for a solution. More...
virtual double	getMaxError () const
	Returns the maximal error for a solution. More...
virtual void	setMaxIterations (int maxIterations)
	Sets the maximal number of iterations allowed. More...
virtual int	getMaxIterations () const
	Returns the maximal number of iterations.
virtual rw::core::PropertyMap &	getProperties ()
	Returns the PropertyMap. More...
virtual const rw::core::PropertyMap &	getProperties () const
	Returns the PropertyMap return Reference to the PropertyMap.
Public Member Functions inherited from InvKinSolver
virtual	~InvKinSolver ()
	destructor
virtual std::vector< math::Q >	solve (const rw::math::Transform3D< double > &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::core::Ptr< const rw::kinematics::Frame >	getTCP () const =0
	Returns the Tool Center Point (TCP) used when solving the IK problem. More...

Static Public Member Functions
static IterativeIK::Ptr	makeDefault (rw::core::Ptr< rw::models::Device > device, const rw::kinematics::State &state)
	Default iterative inverse kinematics solver for a device and state. More...

Protected Member Functions
	IterativeIK ()
	Constructor.

Detailed Description

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.

Member Function Documentation

getMaxError()

virtual double getMaxError ( ) const

virtual

Returns the maximal error for a solution.

Returns

Maximal error

getProperties()

virtual rw::core::PropertyMap& getProperties ( )

virtual

Returns the PropertyMap.

Returns

Reference to the PropertyMap

makeDefault()

static IterativeIK::Ptr makeDefault ( rw::core::Ptr< rw::models::Device >  device, const rw::kinematics::State &  state  )

static

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.

setMaxError()

virtual void setMaxError ( double  maxError )

virtual

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

setMaxIterations()

virtual void setMaxIterations ( int  maxIterations )

virtual

Sets the maximal number of iterations allowed.

Parameters

maxIterations

[in] maximal number of iterations

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

• IterativeIK.hpp