Python:

Inverse Kinematics Parameter Structure rm_inverse_kinematics_params_t

Parameter description

Parameter	Type	Description
q_in	List[float]	Previous joint angle, in °.
q_pose	List[float]	Target pose, represented by either position + quaternion or position + Euler angle based on the flag.
flag	int	Flag, 0: quaternion, 1: Euler angle, default: None.

Constructor function

rm_ctypes_wrap.rm_inverse_kinematics_params_t.__init__(self, list[float] q_in = None, list[float] q_pose = None, int flag = None)

Parameter initialization:

Parameter	Type	Description
q_in	List[float], optional	Previous joint angle, in °, default: None.
q_pose	List[float], optional	Target pose, represented by either position + quaternion or position + Euler angle based on the flag, default: None.
flag	int, optional	Flag, 0: quaternion, 1: Euler angle, default: None.