ikfast_cob3_2.cpp File Reference

#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <stdio.h>
#include <stdlib.h>

Include dependency graph for ikfast_cob3_2.cpp:

Go to the source code of this file.

Classes
class	IKSolution
class	IKSolver
struct	IKSolution::VARIABLE
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_SINCOS_THRESH ((IKReal)0.000001)
#define	IKPI ((IKReal)3.14159265358979)
#define	IKPI_2 ((IKReal)1.57079632679490)
Typedefs
typedef double	IKReal
Functions
void	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	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	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	fk (const IKReal j, IKReal eetrans, IKReal *eerot)
IKFAST_API int *	getFreeParameters ()
IKFAST_API int	getIKRealSize ()
IKFAST_API int	getIKType ()
IKFAST_API const char *	getKinematicsHash ()
IKFAST_API int	getNumFreeParameters ()
IKFAST_API int	getNumJoints ()
IKFAST_API bool	ik (const IKReal eetrans, const IKReal eerot, const IKReal *pfree, std::vector< IKSolution > &vsolutions)
double	IKabs (double f)
float	IKabs (float f)
double	IKacos (double f)
float	IKacos (float f)
double	IKasin (double f)
float	IKasin (float f)
double	IKatan2 (double fy, double fx)
float	IKatan2 (float fy, float fx)
double	IKcos (double f)
float	IKcos (float f)
float	IKfmod (double x, double y)
float	IKfmod (float x, float y)
double	IKlog (double f)
float	IKlog (float f)
double	IKsign (double f)
float	IKsign (float f)
double	IKsin (double f)
float	IKsin (float f)
double	IKsqrt (double f)
float	IKsqrt (float f)
double	IKtan (double f)
float	IKtan (float f)
int	main (int argc, char **argv)
void	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 54 of file ikfast_cob3_2.cpp.

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

Definition at line 51 of file ikfast_cob3_2.cpp.

#define IKFAST_API

Definition at line 72 of file ikfast_cob3_2.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 44 of file ikfast_cob3_2.cpp.

#define IKFAST_SINCOS_THRESH ((IKReal)0.000001)

Definition at line 142 of file ikfast_cob3_2.cpp.

#define IKPI ((IKReal)3.14159265358979)

Definition at line 55 of file ikfast_cob3_2.cpp.

#define IKPI_2 ((IKReal)1.57079632679490)

Definition at line 56 of file ikfast_cob3_2.cpp.

Typedef Documentation

typedef double IKReal

Definition at line 94 of file ikfast_cob3_2.cpp.

Function Documentation

void 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 dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

void dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

void dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

void 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 fk	(	const IKReal *	j,
		IKReal *	eetrans,
		IKReal *	eerot
	)

solves the forward kinematics equations.

Parameters:

pfree

is an array specifying the free joints of the chain.

Definition at line 243 of file ikfast_cob3_2.cpp.

IKFAST_API int* getFreeParameters ( )

Definition at line 378 of file ikfast_cob3_2.cpp.

IKFAST_API int getIKRealSize ( )

Definition at line 381 of file ikfast_cob3_2.cpp.

IKFAST_API int getIKType ( )

Definition at line 383 of file ikfast_cob3_2.cpp.

IKFAST_API const char* getKinematicsHash ( )

Definition at line 1459 of file ikfast_cob3_2.cpp.

IKFAST_API int getNumFreeParameters ( )

Definition at line 377 of file ikfast_cob3_2.cpp.

IKFAST_API int getNumJoints ( )

Definition at line 379 of file ikfast_cob3_2.cpp.

IKFAST_API bool ik	(	const IKReal *	eetrans,
		const IKReal *	eerot,
		const IKReal *	pfree,
		std::vector< IKSolution > &	vsolutions
	)

solves the inverse kinematics equations.

Parameters:

pfree

is an array specifying the free joints of the chain.

Definition at line 1454 of file ikfast_cob3_2.cpp.

double IKabs ( double f ) [inline]

Definition at line 136 of file ikfast_cob3_2.cpp.

float IKabs ( float f ) [inline]

Definition at line 135 of file ikfast_cob3_2.cpp.

double IKacos ( double f ) [inline]

Definition at line 185 of file ikfast_cob3_2.cpp.

float IKacos ( float f ) [inline]

Definition at line 178 of file ikfast_cob3_2.cpp.

double IKasin ( double f ) [inline]

Definition at line 152 of file ikfast_cob3_2.cpp.

float IKasin ( float f ) [inline]

Definition at line 145 of file ikfast_cob3_2.cpp.

double IKatan2	(	double	fy,
		double	fx
	)			`[inline]`

Definition at line 210 of file ikfast_cob3_2.cpp.

float IKatan2	(	float	fy,
		float	fx
	)			`[inline]`

Definition at line 200 of file ikfast_cob3_2.cpp.

double IKcos ( double f ) [inline]

Definition at line 195 of file ikfast_cob3_2.cpp.

float IKcos ( float f ) [inline]

Definition at line 194 of file ikfast_cob3_2.cpp.

float IKfmod	(	double	x,
		double	y
	)			`[inline]`

Definition at line 170 of file ikfast_cob3_2.cpp.

float IKfmod	(	float	x,
		float	y
	)			`[inline]`

Definition at line 161 of file ikfast_cob3_2.cpp.

double IKlog ( double f ) [inline]

Definition at line 139 of file ikfast_cob3_2.cpp.

float IKlog ( float f ) [inline]

Definition at line 138 of file ikfast_cob3_2.cpp.

double IKsign ( double f ) [inline]

Definition at line 231 of file ikfast_cob3_2.cpp.

float IKsign ( float f ) [inline]

Definition at line 221 of file ikfast_cob3_2.cpp.

double IKsin ( double f ) [inline]

Definition at line 193 of file ikfast_cob3_2.cpp.

float IKsin ( float f ) [inline]

Definition at line 192 of file ikfast_cob3_2.cpp.

double IKsqrt ( double f ) [inline]

Definition at line 199 of file ikfast_cob3_2.cpp.

float IKsqrt ( float f ) [inline]

Definition at line 198 of file ikfast_cob3_2.cpp.

double IKtan ( double f ) [inline]

Definition at line 197 of file ikfast_cob3_2.cpp.

float IKtan ( float f ) [inline]

Definition at line 196 of file ikfast_cob3_2.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1471 of file ikfast_cob3_2.cpp.

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

ikfast_cob3_2.cpp File Reference

Classes

Defines

Typedefs

Functions

Define Documentation

Typedef Documentation

Function Documentation