RobotIKSolver Struct Reference

A Newton-Raphson robot IK solver. More...

#include <IKFunctions.h>

Public Member Functions
	RobotIKSolver (RobotIKFunction &function)
void	UseJointLimits (Real revJointThreshold=Inf)
void	UseJointLimits (const Vector &qmin, const Vector &qmax)
void	UseBiasConfiguration (const Vector &qdesired)
void	ClearJointLimits ()
void	RobotToState ()
void	StateToRobot ()
bool	Solve (Real tolerance, int &iters)
void	PrintStats ()

Public Attributes
Optimization::NewtonRoot	solver
RobotIKFunction &	function
RobotKinematics3D &	robot

Detailed Description

A Newton-Raphson robot IK solver.

Joint limits are optionally included if the UseJointLimits() functions are called. Typically, the first version is called.

A bias configuration can be explicitly set using the UseBiasConfiguration() function. The solver will seek toward this configuration during the solve.

Optionally, a Real parameter may specify a threshold t such that a revolute joint's limits are included only if the angular range is less than t. Specifying a value less than 2pi is useful to avoid local minima for joints with wide ranges, because it allows the joint angle to pass from -pi to pi, and vice versa.

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The documentation for this struct was generated from the following files:

• IKFunctions.h
• IKFunctions.cpp