C、C++:
Inverse Kinematics Full Solution Parameter Structurerm_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]