IKSolution - as IK Solution dataclass

class roboticstoolbox.robot.IK.IKSolution(q, success, iterations=0, searches=0, residual=0.0, reason='')[source]

A dataclass for representing an IK solution

q: The joint coordinates of the solution (ndarray). Note that these will not be valid if failed to find a solution

success: True if a valid solution was found

iterations: How many iterations were performed

searches: How many searches were performed

residual: The final error value from the cost function

reason: The reason the IK problem failed if applicable

Changed in version 1.0.3: Added IKSolution dataclass to replace the IKsolution named tuple

Changed in version 1.4.2: Added __getitem__ (positional indexing matching __iter__’s order) and a __repr__ matching __str__, so ik_LM/ik_NR/ ik_GN (which now also return IKSolution, see ETS.ik_LM()) remain compatible with code that indexed the old bare tuple return