C、C++:
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]