simple_ik._simple_ik_ext
========================

.. py:module:: simple_ik._simple_ik_ext


Classes
-------

.. autoapisummary::

   simple_ik._simple_ik_ext.SimpleIkOptions
   simple_ik._simple_ik_ext.SimpleIk


Module Contents
---------------

.. py:class:: SimpleIkOptions(group_name = '', max_iters = 100, max_time = 0.005, max_restarts = 2, step_size = 0.25, damping = 0.001, max_linear_error_norm = 0.001, max_angular_error_norm = 0.001, check_collisions = True, fast_return = True)

   Options struct for simple IK solver.


   .. py:property:: group_name
      :type: str


      The joint group name to be used by the solver.


   .. py:property:: max_iters
      :type: int


      Max iterations for one try of the solver.


   .. py:property:: max_time
      :type: float


      Max total computation time, in seconds.


   .. py:property:: max_restarts
      :type: int


      Maximum number of restarts until success.


   .. py:property:: step_size
      :type: float


      The integration step for the solver.


   .. py:property:: damping
      :type: float


      Damping value for the Jacobian pseudoinverse.


   .. py:property:: max_linear_error_norm
      :type: float


      The maximum linear error norm, in meters.


   .. py:property:: max_angular_error_norm
      :type: float


      The maximum angular error norm, in radians.


   .. py:property:: check_collisions
      :type: bool


      Whether to check collisions.


   .. py:property:: fast_return
      :type: bool


      If true, returns when the first ik solution is found.


.. py:class:: SimpleIk(scene, options)

   Simple inverse kinematics (IK) solver based on the Jacobian pseudoinverse.


   .. py:method:: solveIk(goal: roboplan.core._core_ext.CartesianConfiguration, start: roboplan.core._core_ext.JointConfiguration, solution: roboplan.core._core_ext.JointConfiguration) -> bool
                  solveIk(goals: collections.abc.Sequence[roboplan.core._core_ext.CartesianConfiguration], start: roboplan.core._core_ext.JointConfiguration, solution: roboplan.core._core_ext.JointConfiguration) -> bool

      Solves inverse kinematics (multiple goal).