roboticstoolbox.robot.IK.IKSolution
- 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
- __init__(q, success, iterations=0, searches=0, residual=0.0, reason='')
Methods
__init__
(q, success[, iterations, searches, ...])Attributes