us.ihmc.utilities.kinematics
Class NumericalInverseKinematicsCalculator

java.lang.Object
  extended by us.ihmc.utilities.kinematics.NumericalInverseKinematicsCalculator

public class NumericalInverseKinematicsCalculator
extends java.lang.Object

Author:
twan Date: 6/1/13

Constructor Summary
NumericalInverseKinematicsCalculator(GeometricJacobian jacobian, double tolerance, int maxIterations, double maxStepSize, double minRandomSearchScalar, double maxRandomSearchScalar)
           
 
Method Summary
 double getErrorScalar()
           
 int getNumberOfIterations()
           
 boolean solve(javax.media.j3d.Transform3D desiredTransform)
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
 

Constructor Detail

NumericalInverseKinematicsCalculator

public NumericalInverseKinematicsCalculator(GeometricJacobian jacobian,
                                            double tolerance,
                                            int maxIterations,
                                            double maxStepSize,
                                            double minRandomSearchScalar,
                                            double maxRandomSearchScalar)
Method Detail

solve

public boolean solve(javax.media.j3d.Transform3D desiredTransform)

getNumberOfIterations

public int getNumberOfIterations()

getErrorScalar

public double getErrorScalar()