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java.lang.Object | +--InvKin | +--ScorbotInvKin
ScorbotInvKin.java A class to encapsulate the inverse kinematics for the Scorbot simulation.
Fields inherited from class InvKin |
TO_DEGREES,
TO_RADIANS |
Constructor Summary | |
protected |
ScorbotInvKin()
Default constructor. |
Method Summary | |
java.lang.Object |
clone()
Implements the clone() method, returning an Object copy of this object. |
JointVariables |
getJointVariables(javax.vecmath.Point3d target)
Returns the closest solution in JointVariables form, if a solution exists, otherwise returns null. |
Methods inherited from class InvKin |
getJointVariables,
loadKinematics,
setJointVariables |
Methods inherited from class java.lang.Object |
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
Constructor Detail |
protected ScorbotInvKin()
Method Detail |
public JointVariables getJointVariables(javax.vecmath.Point3d target) throws OutOfRangeException
target
- the target Point to use to find the solution.public java.lang.Object clone()
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