com.neuronrobotics.sdk.addons.kinematics.GradiantDecent Class Reference

Inheritance diagram for com.neuronrobotics.sdk.addons.kinematics.GradiantDecent:

Collaboration diagram for com.neuronrobotics.sdk.addons.kinematics.GradiantDecent:

Public Member Functions
	GradiantDecent (DHChain dhChain, boolean debug)
double[]	inverseKinematics (TransformNR target, double[] jointSpaceVector, DHChain chain)

Private Attributes
final DHChain	dhChain
final boolean	debug

Detailed Description

The Class GradiantDecent.

Definition at line 12 of file GradiantDecent.java.

Constructor & Destructor Documentation

GradiantDecent()

com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.GradiantDecent	(	DHChain	dhChain,
		boolean	debug
	)

Instantiates a new gradiant decent.

Parameters

dhChain	the dh chain
debug	the debug

Definition at line 26 of file GradiantDecent.java.

References com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.debug, and com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.dhChain.

Member Function Documentation

inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics	(	TransformNR	target,
		double[]	jointSpaceVector,
		DHChain	chain
	)

Inverse kinematics.

Parameters

target	the target
jointSpaceVector	the joint space vector
chain	the chain

Returns

the double[]

Implements com.neuronrobotics.sdk.addons.kinematics.DhInverseSolver.

Definition at line 35 of file GradiantDecent.java.

References com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.debug, com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.dhChain, com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getlowerLimits(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getOffsetOrentationMagnitude(), com.neuronrobotics.sdk.addons.kinematics.math.TransformNR.getOffsetVectorMagnitude(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getUpperLimits(), com.neuronrobotics.sdk.addons.kinematics.GradiantDecentNode.jitter(), and com.neuronrobotics.sdk.addons.kinematics.GradiantDecentNode.step().

Here is the call graph for this function:

Member Data Documentation

debug

final boolean com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.debug

private

The debug.

Definition at line 18 of file GradiantDecent.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.GradiantDecent(), and com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics().

dhChain

final DHChain com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.dhChain

private

The dh chain.

Definition at line 15 of file GradiantDecent.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.GradiantDecent(), and com.neuronrobotics.sdk.addons.kinematics.GradiantDecent.inverseKinematics().

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The documentation for this class was generated from the following file:

• java-bowler/src/main/java/com/neuronrobotics/sdk/addons/kinematics/GradiantDecent.java