Inverse\_Kinematics module
==========================

.. automodule:: Inverse_Kinematics
    :members:
    :undoc-members:
    :show-inheritance:

Python Program
--------------

.. literalinclude:: ../../src/Inverse_Kinematics.py
  :linenos:
  :language: Python

Output
------

.. code-block:: bash
  :linenos:

    Matrix T01:
    ⎡1.0   0    0    0 ⎤
    ⎢                  ⎥
    ⎢ 0   1.0   0    0 ⎥
    ⎢                  ⎥
    ⎢ 0    0   1.0   0 ⎥
    ⎢                  ⎥
    ⎣ 0    0    0   1.0⎦

    Matrix T12:
    ⎡1.0           0                     0             0 ⎤
    ⎢                                                    ⎥
    ⎢ 0   6.12323399573677e-17          -1.0           0 ⎥
    ⎢                                                    ⎥
    ⎢ 0           1.0           6.12323399573677e-17   0 ⎥
    ⎢                                                    ⎥
    ⎣ 0            0                     0            1.0⎦

    Matrix T23:
    ⎡0.707106781186548  -0.707106781186547   0   500.0⎤
    ⎢                                                 ⎥
    ⎢0.707106781186547  0.707106781186548    0     0  ⎥
    ⎢                                                 ⎥
    ⎢        0                  0           1.0    0  ⎥
    ⎢                                                 ⎥
    ⎣        0                  0            0    1.0 ⎦

    Matrix T34:
    ⎡0.707106781186548  -0.707106781186547   0   500.0⎤
    ⎢                                                 ⎥
    ⎢0.707106781186547  0.707106781186548    0     0  ⎥
    ⎢                                                 ⎥
    ⎢        0                  0           1.0    0  ⎥
    ⎢                                                 ⎥
    ⎣        0                  0            0    1.0 ⎦

    Matrix T45:
    ⎡1.0   0    0   230.0⎤
    ⎢                    ⎥
    ⎢ 0   1.0   0     0  ⎥
    ⎢                    ⎥
    ⎢ 0    0   1.0    0  ⎥
    ⎢                    ⎥
    ⎣ 0    0    0    1.0 ⎦

    Matrix T05:
    ⎡2.22044604925031e-16          -1.0                   0              853.553390593274  ⎤
    ⎢                                                                                      ⎥
    ⎢6.12323399573677e-17  1.23259516440783e-32          -1.0          3.57323395960819e-14⎥
    ⎢                                                                                      ⎥
    ⎢        1.0           2.22044604925031e-16  6.12323399573677e-17    583.553390593274  ⎥
    ⎢                                                                                      ⎥
    ⎣         0                     0                     0                    1.0         ⎦


    Problem: location x, y, z

    x05: 853.5533905932738
    y05: 3.573233959608189e-14
    z05: 583.5533905932737

    Matrix T01 for given problem:
    ⎡1.0   0    0    0 ⎤
    ⎢                  ⎥
    ⎢ 0   1.0   0    0 ⎥
    ⎢                  ⎥
    ⎢ 0    0   1.0   0 ⎥
    ⎢                  ⎥
    ⎣ 0    0    0   1.0⎦

    Matrix T45 for given problem:
    ⎡1.0   0    0   230.0⎤
    ⎢                    ⎥
    ⎢ 0   1.0   0     0  ⎥
    ⎢                    ⎥
    ⎢ 0    0   1.0    0  ⎥
    ⎢                    ⎥
    ⎣ 0    0    0    1.0 ⎦

    Matrix T15 for given problem:
    ⎡2.22044604925031e-16          -1.0                   0              853.553390593274  ⎤
    ⎢                                                                                      ⎥
    ⎢6.12323399573677e-17  1.23259516440783e-32          -1.0          3.57323395960819e-14⎥
    ⎢                                                                                      ⎥
    ⎢        1.0           2.22044604925031e-16  6.12323399573677e-17    583.553390593274  ⎥
    ⎢                                                                                      ⎥
    ⎣         0                     0                     0                    1.0         ⎦

    Matrix T14 for given problem:
    ⎡2.22044604925031e-16          -1.0                   0              853.553390593274  ⎤
    ⎢                                                                                      ⎥
    ⎢6.12323399573677e-17  1.23259516440783e-32          -1.0          2.16489014058873e-14⎥
    ⎢                                                                                      ⎥
    ⎢        1.0           2.22044604925031e-16  6.12323399573677e-17    353.553390593274  ⎥
    ⎢                                                                                      ⎥
    ⎣         0                     0                     0                    1.0         ⎦

    x14: 853.5533905932738
    y14: 2.164890140588733e-14
    z14: 353.55339059327366

    ⎡0.707106781186548  -0.707106781186547   0   662.634559672906⎤
    ⎢                                                            ⎥
    ⎢0.707106781186547  0.707106781186548    0   162.634559672906⎥
    ⎢                                                            ⎥
    ⎢        0                  0           1.0         0        ⎥
    ⎢                                                            ⎥
    ⎣        0                  0            0         1.0       ⎦

    x35: 662.6345596729059
    y35: 162.6345596729059
    z35: 0.0


    theta_2: -9.54166404439055e-15
    theta_3: 45.000000000000014
    theta_4: 45.000000000000014