IKSolver.step
- abstract IKSolver.step(ets, Tep, q)[source]
Abstract step method
Superclasses will implement this method to perform a step of the implemented IK algorithm
- Parameters:
- Raises:
numpy.LinAlgError – If a step is impossible due to a linear algebra error
- Return type:
- Returns:
E – The new error value
q – The new joint coordinate vector