Data Sheet

83
(5) void SetConvergenceCondition(double max_error, double max_acceptable_error);
Parameter
double max_error, double max_acceptable_error
Return
void
Description
IK’s amount of telorable error.
The first input value is max convergence error. A lesser value
than max can allow solution.
The second value is max allowable error; acceptable as long
as is lower than value entered. When value exceeds then there
is no solution..
(6) matd Jacobian(void);
Parameter
void
Return
Matrix of Jacobian
Description
Returns jacobian for IK solution
(7) vecd CalcError(Pose3D _desired, matd _current);
Parameter
Pose3D goalPose, TransformMatrix of EndEffector
Return
Error between Goal and Currnet Pose
Description
Compares end effector’s goal pose and current pose