IKSolver.solve
- IKSolver.solve(ets, Tep, q0=None)[source]
Solves the IK problem
This method will attempt to solve the IK problem and obtain joint coordinates which result the the end-effector pose
Tep
.- Parameters:
- Return type:
- Returns:
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
jl_valid – True if q is inbounds of the robots joint limits
reason – The reason the IK problem failed if applicable