rw::invkin Namespace Reference

Inverse kinematics interfaces and iksolver classes. More...

Classes
class	AmbiguityResolver
	Wraps a InvKinSolver and searches for ambiguities due to joint able to rotate \( 2 \ pi \) or more. More...
class	CCDSolver
	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. More...
class	ClosedFormIK
	Interface for closed form inverse kinematics algorithms. More...
class	ClosedFormIKSolverKukaIIWA
	Analytical inverse solver for the Kuka LBR IIWA 7 R800 robot. More...
class	ClosedFormIKSolverUR
	Analytical inverse kinematics solver to the kinematics of a Universal Robots. More...
class	IKMetaSolver
	Solve the inverse kinematics problem with respect to joint limits and collisions. More...
class	InvKinSolver
	Interface for inverse kinematics algorithms. More...
class	IterativeIK
	Interface for iterative inverse kinematics algorithms. More...
class	IterativeMultiIK
	Interface for iterative inverse kinematics algorithms for problems or devices that utilize more than one end-effector. More...
class	JacobianIKSolver
	A Jacobian based iterative inverse kinematics algorithm for devices with a single end effector. More...
class	JacobianIKSolverM
	A Jacobian based iterative inverse kinematics algorithm for devices with multiple end effectors. More...
class	ParallelIKSolver
	Inverse kinematics method for parallel devices. More...
class	PieperSolver
	Calculates the closed form inverse kinematics of a device using Piepers method. More...

Detailed Description

Inverse kinematics interfaces and iksolver classes.