ikfast_kinematics_plugin.cpp File Reference

#include "ros/ros.h"
#include <kinematics_base/kinematics_base.h>
#include <geometry_msgs/PoseStamped.h>
#include <motion_planning_msgs/RobotState.h>
#include <kinematics_msgs/GetPositionIK.h>
#include <kinematics_msgs/GetPositionFK.h>
#include <kdl/tree.hpp>
#include <urdf/model.h>
#include <kdl_parser/kdl_parser.hpp>
#include "chainfksolver.hpp"
#include <iostream>
#include <iomanip>
#include <cmath>
#include <vector>
#include <sstream>
#include <map>
#include <stdexcept>
#include <list>
#include <boost/thread/mutex.hpp>
#include "tf/transform_datatypes.h"
#include "tf/exceptions.h"
#include "LinearMath/btTransform.h"
#include <boost/signals.hpp>
#include <string>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"
#include "std_msgs/Header.h"
#include "geometry_msgs/Vector3.h"
#include <tf_conversions/tf_kdl.h>
#include <limits>
#include <algorithm>
#include <complex>
#include "Poco/Foundation.h"
#include "Poco/Exception.h"
#include <pthread.h>
#include <errno.h>
#include <set>
#include <typeinfo>

Include dependency graph for ikfast_kinematics_plugin.cpp:

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Classes
class	cob3_arm_kinematics::ik_solver_base
class	cob3_arm_kinematics::ikfast_solver< T >
class	cob3_arm_kinematics::IKFastKinematicsPlugin
class	cob3_arm_kinematics::cob3_2::IKSolution
class	cob3_arm_kinematics::cob3_2::IKSolver
struct	cob3_arm_kinematics::cob3_2::IKSolution::VARIABLE
Namespaces
namespace	cob3_arm_kinematics
namespace	cob3_arm_kinematics::cob3_2
Defines
#define	IK2PI ((IKReal)6.28318530717959)
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_API
#define	IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define	IKFAST_NO_MAIN
#define	IKFAST_SINCOS_THRESH ((IKReal)0.000001)
#define	IKPI ((IKReal)3.14159265358979)
#define	IKPI_2 ((IKReal)1.57079632679490)
Typedefs
typedef double	cob3_arm_kinematics::cob3_2::IKReal
typedef double	IKReal
Functions
void	cob3_arm_kinematics::cob3_2::dgeev_ (const char jobvl, const char jobvr, const int n, double a, const int lda, double wr, double wi, double vl, const int ldvl, double vr, const int ldvr, double work, const int lwork, int info)
void	cob3_arm_kinematics::cob3_2::dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	cob3_arm_kinematics::cob3_2::dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	cob3_arm_kinematics::cob3_2::dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	cob3_arm_kinematics::cob3_2::dgetrs_ (const char trans, const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int *info)
IKFAST_API void	cob3_arm_kinematics::cob3_2::fk (const IKReal j, IKReal eetrans, IKReal *eerot)
IKFAST_API int *	cob3_arm_kinematics::cob3_2::getFreeParameters ()
IKFAST_API int	cob3_arm_kinematics::cob3_2::getIKRealSize ()
IKFAST_API int	cob3_arm_kinematics::cob3_2::getIKType ()
IKFAST_API const char *	cob3_arm_kinematics::cob3_2::getKinematicsHash ()
IKFAST_API int	cob3_arm_kinematics::cob3_2::getNumFreeParameters ()
IKFAST_API int	cob3_arm_kinematics::cob3_2::getNumJoints ()
IKFAST_API bool	cob3_arm_kinematics::cob3_2::ik (const IKReal eetrans, const IKReal eerot, const IKReal *pfree, std::vector< IKSolution > &vsolutions)
double	cob3_arm_kinematics::cob3_2::IKabs (double f)
float	cob3_arm_kinematics::cob3_2::IKabs (float f)
double	cob3_arm_kinematics::cob3_2::IKacos (double f)
float	cob3_arm_kinematics::cob3_2::IKacos (float f)
double	cob3_arm_kinematics::cob3_2::IKasin (double f)
float	cob3_arm_kinematics::cob3_2::IKasin (float f)
double	cob3_arm_kinematics::cob3_2::IKatan2 (double fy, double fx)
float	cob3_arm_kinematics::cob3_2::IKatan2 (float fy, float fx)
double	cob3_arm_kinematics::cob3_2::IKcos (double f)
float	cob3_arm_kinematics::cob3_2::IKcos (float f)
float	cob3_arm_kinematics::cob3_2::IKfmod (double x, double y)
float	cob3_arm_kinematics::cob3_2::IKfmod (float x, float y)
double	cob3_arm_kinematics::cob3_2::IKlog (double f)
float	cob3_arm_kinematics::cob3_2::IKlog (float f)
double	cob3_arm_kinematics::cob3_2::IKsign (double f)
float	cob3_arm_kinematics::cob3_2::IKsign (float f)
double	cob3_arm_kinematics::cob3_2::IKsin (double f)
float	cob3_arm_kinematics::cob3_2::IKsin (float f)
double	cob3_arm_kinematics::cob3_2::IKsqrt (double f)
float	cob3_arm_kinematics::cob3_2::IKsqrt (float f)
double	cob3_arm_kinematics::cob3_2::IKtan (double f)
float	cob3_arm_kinematics::cob3_2::IKtan (float f)
void	cob3_arm_kinematics::cob3_2::zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Define Documentation

#define IK2PI ((IKReal)6.28318530717959)

Definition at line 55 of file ikfast_kinematics_plugin.cpp.

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

Definition at line 52 of file ikfast_kinematics_plugin.cpp.

#define IKFAST_API

Definition at line 73 of file ikfast_kinematics_plugin.cpp.

#define IKFAST_ASSERT ( b ) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 41 generated on 2011-06-20 18:42:47.666026 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object: gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -shared -Wl,-soname,ik.so -o ik.so ik.cpp

Definition at line 45 of file ikfast_kinematics_plugin.cpp.

#define IKFAST_NO_MAIN

Definition at line 12 of file ikfast_kinematics_plugin.cpp.

#define IKFAST_SINCOS_THRESH ((IKReal)0.000001)

Definition at line 143 of file ikfast_kinematics_plugin.cpp.

#define IKPI ((IKReal)3.14159265358979)

Definition at line 56 of file ikfast_kinematics_plugin.cpp.

#define IKPI_2 ((IKReal)1.57079632679490)

Definition at line 57 of file ikfast_kinematics_plugin.cpp.