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>
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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 __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 (  )     { 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.


Typedef Documentation

typedef double IKReal

Definition at line 16 of file ikfast_kinematics_plugin.cpp.

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cob_manipulator
Author(s): Alexander Bubeck
autogenerated on Fri Jan 11 09:58:14 2013