Classes | Functions
M16iB20_manipulator_kinematics Namespace Reference

Classes

class  IKFastKinematicsPlugin
class  IKSolver

Functions

IKFAST_API void ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
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 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 ()
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)
 IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)
float IKfmod (float x, float y)
double 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)
void zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)

Function Documentation

IKFAST_API void M16iB20_manipulator_kinematics::ComputeFk ( const IkReal *  j,
IkReal *  eetrans,
IkReal *  eerot 
)

solves the forward kinematics equations.

Parameters:
pfreeis an array specifying the free joints of the chain.

Definition at line 211 of file M16iB20_manipulator_ikfast_plugin.cpp.

IKFAST_API bool M16iB20_manipulator_kinematics::ComputeIk ( const IkReal *  eetrans,
const IkReal *  eerot,
const IkReal *  pfree,
IkSolutionListBase< IkReal > &  solutions 
)

solves the inverse kinematics equations.

Parameters:
pfreeis an array specifying the free joints of the chain.

Definition at line 2984 of file M16iB20_manipulator_ikfast_plugin.cpp.

void M16iB20_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 M16iB20_manipulator_kinematics::dgesv_ ( const int *  n,
const int *  nrhs,
double *  a,
const int *  lda,
int *  ipiv,
double *  b,
const int *  ldb,
int *  info 
)
void M16iB20_manipulator_kinematics::dgetrf_ ( const int *  m,
const int *  n,
double *  a,
const int *  lda,
int *  ipiv,
int *  info 
)
void M16iB20_manipulator_kinematics::dgetri_ ( const int *  n,
const double *  a,
const int *  lda,
int *  ipiv,
double *  work,
const int *  lwork,
int *  info 
)
void M16iB20_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 
)

Definition at line 279 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 2991 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 282 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 284 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 2989 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 278 of file M16iB20_manipulator_ikfast_plugin.cpp.

Definition at line 280 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKabs ( float  f) [inline]

Definition at line 89 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKabs ( double  f) [inline]

Definition at line 90 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKacos ( float  f) [inline]

Definition at line 146 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKacos ( double  f) [inline]

Definition at line 153 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKasin ( float  f) [inline]

Definition at line 113 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKasin ( double  f) [inline]

Definition at line 120 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKatan2 ( float  fy,
float  fx 
) [inline]

Definition at line 168 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKatan2 ( double  fy,
double  fx 
) [inline]

Definition at line 178 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKcos ( float  f) [inline]

Definition at line 162 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKcos ( double  f) [inline]

Definition at line 163 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKfmod ( float  x,
float  y 
) [inline]

Definition at line 129 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKfmod ( double  x,
double  y 
) [inline]

Definition at line 138 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKlog ( float  f) [inline]

Definition at line 95 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKlog ( double  f) [inline]

Definition at line 96 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKsign ( float  f) [inline]

Definition at line 189 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKsign ( double  f) [inline]

Definition at line 199 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKsin ( float  f) [inline]

Definition at line 160 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKsin ( double  f) [inline]

Definition at line 161 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKsqr ( float  f) [inline]

Definition at line 92 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKsqr ( double  f) [inline]

Definition at line 93 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKsqrt ( float  f) [inline]

Definition at line 166 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKsqrt ( double  f) [inline]

Definition at line 167 of file M16iB20_manipulator_ikfast_plugin.cpp.

float M16iB20_manipulator_kinematics::IKtan ( float  f) [inline]

Definition at line 164 of file M16iB20_manipulator_ikfast_plugin.cpp.

double M16iB20_manipulator_kinematics::IKtan ( double  f) [inline]

Definition at line 165 of file M16iB20_manipulator_ikfast_plugin.cpp.

void M16iB20_manipulator_kinematics::zgetrf_ ( const int *  m,
const int *  n,
std::complex< double > *  a,
const int *  lda,
int *  ipiv,
int *  info 
)
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m16ib20_arm_navigation
Author(s): Michael O. Blanton Jr
autogenerated on Sun Jul 7 2013 03:08:48