Classes | Functions
ikfast_kinematics_plugin 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 ikfast_kinematics_plugin::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 turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IKFAST_API bool ikfast_kinematics_plugin::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 4772 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::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 ikfast_kinematics_plugin::dgesv_ ( const int *  n,
const int *  nrhs,
double *  a,
const int *  lda,
int *  ipiv,
double *  b,
const int *  ldb,
int *  info 
)
void ikfast_kinematics_plugin::dgetrf_ ( const int *  m,
const int *  n,
double *  a,
const int *  lda,
int *  ipiv,
int *  info 
)
void ikfast_kinematics_plugin::dgetri_ ( const int *  n,
const double *  a,
const int *  lda,
int *  ipiv,
double *  work,
const int *  lwork,
int *  info 
)
void ikfast_kinematics_plugin::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 264 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IKFAST_API const char* ikfast_kinematics_plugin::GetIkFastVersion ( )

Definition at line 4779 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Definition at line 267 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Definition at line 269 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IKFAST_API const char* ikfast_kinematics_plugin::GetKinematicsHash ( )

Definition at line 4777 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Definition at line 263 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Definition at line 265 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 89 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 90 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 146 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 153 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 113 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 120 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 168 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 178 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 162 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 163 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 129 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 138 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 95 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 96 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 189 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 199 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 160 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 161 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 92 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 93 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 166 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 167 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 164 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 165 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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


turtlebot_arm_ikfast_plugin
Author(s):
autogenerated on Mon Oct 6 2014 08:08:19