ComputedGeometricModel.java

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package com.neuronrobotics.sdk.addons.kinematics;
import java.util.ArrayList;
 
import com.neuronrobotics.sdk.addons.kinematics.math.TransformNR;
 
// TODO: Auto-generated Javadoc
public class ComputedGeometricModel  implements DhInverseSolver{
    
    private DHChain dhChain;
    
    public ComputedGeometricModel(DHChain dhChain, boolean debug) {
        this.dhChain = dhChain;
    }
 
    /* (non-Javadoc)
     * @see com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver#inverseKinematics(com.neuronrobotics.sdk.addons.kinematics.math.TransformNR, double[], com.neuronrobotics.sdk.addons.kinematics.DHChain)
     */
    public double[] inverseKinematics(TransformNR target,double[] jointSpaceVector, 
            DHChain chain ) {
        ArrayList<DHLink> links = chain.getLinks();
        //viewer.addTransform(target, "Target",Color.pink);
                int linkNum = jointSpaceVector.length;
        double [] inv = new double[linkNum];
        //Attempting to implement:
        //http://www.ri.cmu.edu/pub_files/pub1/xu_yangsheng_1993_1/xu_yangsheng_1993_1.pdf
        TransformNR current = dhChain.forwardKinematics(jointSpaceVector);
        return inv;
    }
 
}