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Inverse Kinematics Full Solution Parameter Structure rm_inverse_kinematics_all_solve_t

Class member variable description

  • Solution Result result

    0: Success, 1: Inverse kinematics failed, -1: Previous joint angles are empty or exceed joint limits, -2: Target pose quaternion is invalid, -3: The current robot is not a six degrees of freedom robot. Currently, only six degrees of freedom robots are supported.

    C++
    int rm_inverse_kinematics_all_solve_t::result
  • Number of Solutions num

    C++
    int rm_inverse_kinematics_all_solve_t::num
  • Reference Joint Angles q_ref

    Typically the current joint angles, unit: °.

    C++
    float rm_inverse_kinematics_all_solve_t::q_ref[8]
  • Full Joint Angle Solutions q_solve

    Unit: °.

    C++
    float rm_inverse_kinematics_all_solve_t::q_solve[8][8]