Class InvKin
java.lang.Object
|
+--InvKin
- Direct Known Subclasses:
- PlanarInvKin, PumaInvKin, ScorbotInvKin
- public abstract class InvKin
- extends java.lang.Object
- implements java.lang.Cloneable
An abstract class to encapsulate the functionality required to perform the
inverse kinematics calculations required by the Robot object to execute
Command.MOVE_XYZ or Command.GOTO_XYZ commands.
- See Also:
JointVariables
,
Command
Field Summary |
protected double |
TO_DEGREES
Conversion constant, to convert from radians to degrees. |
protected double |
TO_RADIANS
Conversion constant, to convert from degrees to radians. |
Constructor Summary |
protected |
InvKin()
Creates a new InvKin object. |
Methods inherited from class java.lang.Object |
equals,
finalize,
getClass,
hashCode,
notify,
notifyAll,
toString,
wait,
wait,
wait |
TO_DEGREES
protected final double TO_DEGREES
- Conversion constant, to convert from radians to degrees.
TO_RADIANS
protected final double TO_RADIANS
- Conversion constant, to convert from degrees to radians.
InvKin
protected InvKin()
- Creates a new InvKin object. This constructor is private to prevent
direct instantiation; use
loadParser
to load an instance
of a specific inverse kinematic object.
setJointVariables
public void setJointVariables(JointVariables joints)
- Sets the JointVariables object.
- Parameters:
joints
- the new JointVariables object.
getJointVariables
public JointVariables getJointVariables()
- Get the JointVariables object.
- Returns:
- the current JointVariables object.
getJointVariables
public abstract JointVariables getJointVariables(javax.vecmath.Point3d target)
throws OutOfRangeException
- Returns the closest solution in JointVariables form, if a solution
exists, otherwise returns null. Modified from the equations given in
Craig, "Introduction to Robotics". Note that the desired pitch angle
is implicitly equal to the current pitch, and the desired roll angle is
the current roll.
- Parameters:
target
- the target Point3d to use to find the solution.- Throws:
- OutOfRangeException - raised when the requested point has no solutions.
loadKinematics
public static InvKin loadKinematics(java.lang.String s)
throws InvKinException
- Loads the InvKin class specified by the given String.
- Parameters:
s
- the name of the InvKin class to be loaded.- Returns:
- an instance of the requested InvKin class.
- Throws:
- InvKinException - indicates an error loading the class.
clone
public abstract java.lang.Object clone()
- Implements the clone() method, returning an Object copy of this object.
- Returns:
- an Object copy of this InvKin instance.
- Overrides:
- clone in class java.lang.Object