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

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

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

Classes
class	configuration
class	searchNode
class	searchTree

Public Member Functions
	SearchTreeSolver (DHChain dhChain, boolean debug)
double[]	inverseKinematics (TransformNR target, double[] jointSpaceVector, DHChain chain)
TransformNR	getTarget ()
void	setTarget (TransformNR target)
DHChain	getDhChain ()
void	setDhChain (DHChain dhChain)
TransformNR	fk (double[] jointSpaceVector)

Private Attributes
DHChain	dhChain
double[]	upper
double[]	lower
boolean	debug
TransformNR	target

Detailed Description

The Class SearchTreeSolver.

Definition at line 11 of file SearchTreeSolver.java.

Constructor & Destructor Documentation

SearchTreeSolver()

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

Instantiates a new search tree solver.

Parameters

dhChain	the dh chain
debug	the debug

Definition at line 37 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.debug, com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.dhChain, com.neuronrobotics.sdk.addons.kinematics.DHChain.getlowerLimits(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getUpperLimits(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.lower, com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setDhChain(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.upper.

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Member Function Documentation

fk()

TransformNR com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.fk

(

double[]

jointSpaceVector

)

Fk.

Parameters

jointSpaceVector

the joint space vector

Returns

the transform nr

Definition at line 121 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.DHChain.forwardKinematics(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.getDhChain().

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.configuration.getTransform().

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getDhChain()

DHChain com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.getDhChain

(

)

Gets the dh chain.

Returns

the dh chain

Definition at line 102 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.dhChain.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.fk().

getTarget()

TransformNR com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.getTarget

(

)

Gets the target.

Returns

the target

Definition at line 84 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.target.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.searchTree.getBest().

inverseKinematics()

double [] com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.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 48 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.searchTree.getBest(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.configuration.getJoints(), com.neuronrobotics.sdk.addons.kinematics.DHChain.getLinks(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.configuration.getOffsetOrentationMagnitude(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.configuration.getOffsetVectorMagnitude(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setTarget(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.target.

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setDhChain()

void com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setDhChain

(

DHChain

dhChain

)

Sets the dh chain.

Parameters

dhChain

the new dh chain

Definition at line 111 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.dhChain.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

setTarget()

void com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setTarget

(

TransformNR

target

)

Sets the target.

Parameters

target

the new target

Definition at line 93 of file SearchTreeSolver.java.

References com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.target.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.inverseKinematics().

Member Data Documentation

debug

boolean com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.debug

private

The debug.

Definition at line 23 of file SearchTreeSolver.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

dhChain

DHChain com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.dhChain

private

The dh chain.

Definition at line 14 of file SearchTreeSolver.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.getDhChain(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setDhChain().

lower

double [] com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.lower

private

The lower.

Definition at line 20 of file SearchTreeSolver.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

target

TransformNR com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.target

private

The target.

Definition at line 29 of file SearchTreeSolver.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.getTarget(), com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.inverseKinematics(), and com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.setTarget().

upper

double [] com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.upper

private

The upper.

Definition at line 17 of file SearchTreeSolver.java.

Referenced by com.neuronrobotics.sdk.addons.kinematics.SearchTreeSolver.SearchTreeSolver().

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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/SearchTreeSolver.java