roboplan.roboplan_ext.simple_ik
Classes
Options struct for simple IK solver. |
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Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse. |
Module Contents
- class roboplan.roboplan_ext.simple_ik.SimpleIkOptions
Options struct for simple IK solver.
- property group_name: str
The joint group name to be used by the solver.
- Return type:
str
- property max_iters: int
Max iterations for one try of the solver.
- Return type:
int
- property max_time: float
Max total computation time, in seconds.
- Return type:
float
- property max_restarts: int
Maximum number of restarts until success.
- Return type:
int
- property step_size: float
The integration step for the solver.
- Return type:
float
- property damping: float
Damping value for the Jacobian pseudoinverse.
- Return type:
float
- property max_error_norm: float
The maximum error norm.
- Return type:
float
- property check_collisions: bool
Whether to check collisions.
- Return type:
bool
- class roboplan.roboplan_ext.simple_ik.SimpleIk(scene, options)
Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse.
- Parameters:
scene (roboplan_ext.core.Scene)
options (SimpleIkOptions)
- solveIk(goal, start, solution)
Solves inverse kinematics.
- Parameters:
solution (roboplan_ext.core.JointConfiguration)
- Return type:
bool