ReturnMatrix inv_kin(const Matrix & Tobj, const int mj = 0); ReturnMatrix inv_kin(const Matrix & Tobj, const int mj, bool & converge);
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(2.35) |
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(2.36) |
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(2.37) |
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(2.38) |
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(2.39) |
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(2.40) |
Given the desired position represented by the homogeneous transform Tobj, this function return the column vector of joint variables that is corresponding to this position. On return, the value converge is true if the procedure has converge to values that give the correct position and false otherwise.
Note: mj == 0 is faster (
) than mj == 1.
Also, mj == 1 might converge when mj == 0 does not.
ColumnVector