#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <coverage_3d_arm_navigation/openrave_ik.h>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

Include dependency graph for ik_pr2_rightarm.cpp:

Classes
class	IKSolver
Defines
#define	__PRETTY_FUNCTION__ __func__
#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_ATAN2_MAGTHRESH ((IKReal)2e-6)
#define	IKFAST_SINCOS_THRESH ((IKReal)0.000001)
#define	IKFAST_SOLUTION_THRESH ((IKReal)1e-6)
#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 const char *	getIKFastVersion ()
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)
float	IKabs (float f)
double	IKabs (double f)
float	IKacos (float f)
double	IKacos (double f)
float	IKasin (float f)
double	IKasin (double f)
float	IKatan2 (float fy, float fx)
double	IKatan2 (double fy, double fx)
float	IKcos (float f)
double	IKcos (double f)
float	IKfmod (float x, float y)
float	IKfmod (double x, double y)
float	IKlog (float f)
double	IKlog (double f)
float	IKsign (float f)
double	IKsign (double f)
float	IKsin (float f)
double	IKsin (double f)
float	IKsqr (float f)
double	IKsqr (double f)
float	IKsqrt (float f)
double	IKsqrt (double f)
float	IKtan (float f)
double	IKtan (double 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 __PRETTY_FUNCTION__ __func__

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 55 generated on 2012-02-02 15:10:56.448139 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 45 of file ik_pr2_rightarm.cpp.

#define IK2PI ((IKReal)6.28318530717959)

Definition at line 58 of file ik_pr2_rightarm.cpp.

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

Definition at line 55 of file ik_pr2_rightarm.cpp.

#define IKFAST_API

Definition at line 76 of file ik_pr2_rightarm.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()); } }

Definition at line 48 of file ik_pr2_rightarm.cpp.

#define IKFAST_ATAN2_MAGTHRESH ((IKReal)2e-6)

Definition at line 183 of file ik_pr2_rightarm.cpp.

#define IKFAST_SINCOS_THRESH ((IKReal)0.000001)

Definition at line 178 of file ik_pr2_rightarm.cpp.

#define IKFAST_SOLUTION_THRESH ((IKReal)1e-6)

Definition at line 188 of file ik_pr2_rightarm.cpp.

#define IKPI ((IKReal)3.14159265358979)

Definition at line 59 of file ik_pr2_rightarm.cpp.

#define IKPI_2 ((IKReal)1.57079632679490)

Definition at line 60 of file ik_pr2_rightarm.cpp.

Typedef Documentation

typedef double IKReal

Definition at line 98 of file ik_pr2_rightarm.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 289 of file ik_pr2_rightarm.cpp.

IKFAST_API int* getFreeParameters ( )

Definition at line 375 of file ik_pr2_rightarm.cpp.

IKFAST_API const char* getIKFastVersion ( )

Definition at line 3591 of file ik_pr2_rightarm.cpp.

IKFAST_API int getIKRealSize ( )

Definition at line 378 of file ik_pr2_rightarm.cpp.

IKFAST_API int getIKType ( )

Definition at line 380 of file ik_pr2_rightarm.cpp.

IKFAST_API const char* getKinematicsHash ( )

Definition at line 3589 of file ik_pr2_rightarm.cpp.

IKFAST_API int getNumFreeParameters ( )

Definition at line 374 of file ik_pr2_rightarm.cpp.

IKFAST_API int getNumJoints ( )

Definition at line 376 of file ik_pr2_rightarm.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 3584 of file ik_pr2_rightarm.cpp.

float IKabs ( float f ) [inline]

Definition at line 167 of file ik_pr2_rightarm.cpp.

double IKabs ( double f ) [inline]

Definition at line 168 of file ik_pr2_rightarm.cpp.

float IKacos ( float f ) [inline]

Definition at line 224 of file ik_pr2_rightarm.cpp.

double IKacos ( double f ) [inline]

Definition at line 231 of file ik_pr2_rightarm.cpp.

float IKasin ( float f ) [inline]

Definition at line 191 of file ik_pr2_rightarm.cpp.

double IKasin ( double f ) [inline]

Definition at line 198 of file ik_pr2_rightarm.cpp.

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

Definition at line 246 of file ik_pr2_rightarm.cpp.

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

Definition at line 256 of file ik_pr2_rightarm.cpp.

float IKcos ( float f ) [inline]

Definition at line 240 of file ik_pr2_rightarm.cpp.

double IKcos ( double f ) [inline]

Definition at line 241 of file ik_pr2_rightarm.cpp.

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

Definition at line 207 of file ik_pr2_rightarm.cpp.

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

Definition at line 216 of file ik_pr2_rightarm.cpp.

float IKlog ( float f ) [inline]

Definition at line 173 of file ik_pr2_rightarm.cpp.

double IKlog ( double f ) [inline]

Definition at line 174 of file ik_pr2_rightarm.cpp.

float IKsign ( float f ) [inline]

Definition at line 267 of file ik_pr2_rightarm.cpp.

double IKsign ( double f ) [inline]

Definition at line 277 of file ik_pr2_rightarm.cpp.

float IKsin ( float f ) [inline]

Definition at line 238 of file ik_pr2_rightarm.cpp.

double IKsin ( double f ) [inline]

Definition at line 239 of file ik_pr2_rightarm.cpp.

float IKsqr ( float f ) [inline]

Definition at line 170 of file ik_pr2_rightarm.cpp.

double IKsqr ( double f ) [inline]

Definition at line 171 of file ik_pr2_rightarm.cpp.

float IKsqrt ( float f ) [inline]

Definition at line 244 of file ik_pr2_rightarm.cpp.

double IKsqrt ( double f ) [inline]

Definition at line 245 of file ik_pr2_rightarm.cpp.

float IKtan ( float f ) [inline]

Definition at line 242 of file ik_pr2_rightarm.cpp.

double IKtan ( double f ) [inline]

Definition at line 243 of file ik_pr2_rightarm.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 3603 of file ik_pr2_rightarm.cpp.

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

Classes

Defines

Typedefs

Functions

Define Documentation

Typedef Documentation

Function Documentation