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For information on the latest version, please have a look at GL013301.

get_solution_space

This function calculates the solution space index (0-7) for a given joint position. Each solution space represents one of the eight possible robot configurations (elbow-up/down, wrist-flip, shoulder combinations, etc.). The result is primarily used when performing inverse kinematics via ikin.

Definition
DRFLEx.h within class CDRFLEx, public section (line 673)

unsigned char get_solution_space(
    float fTargetPos[NUM_JOINT]
) {
    return _get_solution_space(_rbtCtrl, fTargetPos);
};

Parameter

Parameter Name	Data Type	Default Value	Description
fTargetPos	float[6]		Target joint positions (J1-J6). The function evaluates these angles to determine the corresponding IK configuration space.

Return

Value	Description
unsigned char (0-7)	Identifier of the solution space that the current pose belongs to. Used as input to ikin or ikin_extension.

Example

float q1[6] = { 0.f, 0.f, 0.f, 0.f, 0.f, 0.f };
unsigned char sol = drfl.get_solution_space(q1);

std::cout << "Current solution space: " << static_cast<int>(sol) << std::endl;

This example computes the solution space index for a given joint configuration q1. The returned value (sol) indicates one of the eight possible robot postures and can be used when performing inverse-kinematic operations such as ikin() or ikin_ex().