vcJacobian
vcJacobian allows you to calculate inverse and forward kinematics solutions. For example, you can solve for joint values of a robot at a given position.
Properties
| Name | Type | Access | Description |
| ForwardKin | Function | RW | Defines the function for forward kinematics calculation.
If None, uses built-in method. |
| FractionalStep | Real | RW | Defines the fractional step of calculation.
The default value is 0.5. |
| IgnoreOrientation | Boolean | RW | Turns on/off the calculation of orientation.
The default value is False in which orientation is calculated for solution. Generally, a True value would be used when orientation is not important, for example with Cartesian robots. |
| JacobianJointCount | Integer | RW | Defines the number of joints in calculation. |
| NumIterationsInner | Integer | RW | Defines the number of iterations for calculating inner product. |
| NumIterationsOuter | Integer | RW | Defines the number of iterations for calculating outer product. |
| OrientationMaxStep | Real | RW | Defines the max step for orientation in calculation. |
| OrientationTolerance | Real | RW | Defines the tolerance for orientation in calculation. |
| PositionalMaxStep | Real | RW | Defines the max step for position in calculation. |
| PositionalTolerance | Real | RW | Defines the tolerance for position in calculation. |
| RotationalJointStepSize | Real | RW | Defines the step for rotational joint values in calculation. |
Methods
| Name | Return Type | Parameters | Description |
| inverse | 2-tuple (List of Real joint_values, Enumeration solution) | vcMatrix target, List of Real values, [List of Boolean fixed] | Calculates the joint values of robot for a given target and list of joint values.
An optional fixed argument can be given to identify fixed joints in the robot. The returned value will identify joint values of robot and status of solution to target. See Solution Constants for more information. |