IKSolution - as IK Solution dataclass

class roboticstoolbox.robot.IK.IKSolution(q, success, iterations=0, searches=0, residual=0.0, reason='')

A dataclass for representing an IK solution

q

The joint coordinates of the solution (ndarray). Note that these will not be valid if failed to find a solution

success

True if a valid solution was found

iterations

How many iterations were performed

searches

How many searches were performed

residual

The final error value from the cost function

reason

The reason the IK problem failed if applicable

Changed in version 1.0.3: Added IKSolution dataclass to replace the IKsolution named tuple