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Constructor.
This is the constructor for an object of type IKJGenerateOptions. Use this to create an IKJGenerateOptions object from an IKJacobian object, an Perturbation object and an initial joint position. This class uses the inverse kinematics calculations from the IKJacobian class. As such, all functionality for setting min MOT, max error, etc. should be done through the IKJacobian object. Similarly, it uses Perturbation to generate options around a base solution obtained from IKJacobian. Thus, all functionality for setting perturbation values should be done through the Perturbation object. - Parameters:
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| initialJointPosition | A DOF length vector of initial joint positions. This position will be used to create the object and should not be singular. |
| ik | A pointer to an object of IKJacobian type. This object will be used to generate the inverse solutions. IKJacobian uses pseudoinverse for the solution in case of redundant robots. The user can also use an object of a class that is derived from IKJacobian if a custom inverse solution is needed. For example, one can create an IK class that uses inertia-weighted pseudoinverse to solve the inverse. |
| perturb | A pointer to an Perturbation object. This object will be used to generate a set of joint perturbations around the base solution. The joint solutions will be solved from these perturbations. |
| method | An IKJGenerateOptions::RRNullJointMethod object specifying which type of method to use for generating null space solutions: Approximate or Exact. The default is Approximate. |
| err | An OSCARError object that on return will hold the value of any errors that were generated during the constructor call. If err is not equal to 'noError' you can call GetError() to get the details of the error code. |
- Exceptions:
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