Classes
class	IKFastKinematicsPlugin
class	IKSolution
class	IKSolver
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)
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	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)

Typedef Documentation

typedef double sia10d_mesh_manipulator_kinematics::IKReal

Definition at line 95 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

Function Documentation

void sia10d_mesh_manipulator_kinematics::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 sia10d_mesh_manipulator_kinematics::dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

void sia10d_mesh_manipulator_kinematics::dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

void sia10d_mesh_manipulator_kinematics::dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

void sia10d_mesh_manipulator_kinematics::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 sia10d_mesh_manipulator_kinematics::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 244 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API int* sia10d_mesh_manipulator_kinematics::getFreeParameters ( )

Definition at line 336 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API int sia10d_mesh_manipulator_kinematics::getIKRealSize ( )

Definition at line 339 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API int sia10d_mesh_manipulator_kinematics::getIKType ( )

Definition at line 341 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API const char* sia10d_mesh_manipulator_kinematics::getKinematicsHash ( )

Definition at line 2015 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API int sia10d_mesh_manipulator_kinematics::getNumFreeParameters ( )

Definition at line 335 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API int sia10d_mesh_manipulator_kinematics::getNumJoints ( )

Definition at line 337 of file sia10d_mesh_manipulator_ikfast_plugin.cpp.

IKFAST_API bool sia10d_mesh_manipulator_kinematics::ik	(	const IKReal *	eetrans,
		const IKReal *	eerot,
		const IKReal *	pfree,
		std::vector< IKSolution > &	vsolutions
	)