Data Sheet

84
(8) void ComputeIK(Pose3D _desired , vecd *q_rad,
vecd Initangle_rad, int *ErrorStatus);
Parameter
Pose3D goalPose, vecd initangle, int ErrorStatus
Return
void
Description
get jacobian’s Damped Least Square Method for IK solution
_desired is end effector’s desired pose
*q_rad sets joints pose after running IK
Initangle_rad is joint angles prior to running IK
*ErrorStatus is pointer for error type
ErrorStatus.
1. no error
(ARMSDK_NO_ERROR 0x00)
2. No solution from IK
(ARMSDK_NO_IK_SOLUTION 0x01)
3. no solution from IK, allowable error
(ARMSDK_ACCEPTABLE_ERROR 0x02)
4. joint angles exceed JointData’s set angles
(ARMSDK_OUT_OFF_JOINT_RANGE 0x08)