public class NAOLegCalculator extends JacobianTransposeAgentIKSolver
Constructor and Description |
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NAOLegCalculator() |
Modifier and Type | Method and Description |
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static double[] |
calculateJointAngles(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPos,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles) |
static double[] |
getChangeAngles(IBodyPart targetBody,
double[] angles,
boolean scaled) |
boolean |
solve(IBodyPart targetBody,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition,
org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles)
Solve the IK for a specific body part and the given target pose.
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public boolean solve(IBodyPart targetBody, org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPosition, org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles)
IAgentIKSolver
solve
in interface IAgentIKSolver
solve
in class JacobianTransposeAgentIKSolver
targetBody
- the target body part (representing the limb to
manipulate)targetPosition
- the target positiontargetAngles
- the target angles (may be null if not of interest)public static double[] calculateJointAngles(IBodyPart targetBody, org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetPos, org.apache.commons.math3.geometry.euclidean.threed.Vector3D targetAngles)
public static double[] getChangeAngles(IBodyPart targetBody, double[] angles, boolean scaled)