IKSolver Class Reference

## Public Member Functions | |

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

## Static Public Member Functions | |

static bool | checkconsistency8 (const IkReal *Breal) |

static void | solvedialyticpoly8qep (const IkReal *matcoeffs, IkReal *rawroots, int &numroots) |

Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994) | |

## Public Attributes | |

unsigned char | _ij0 [2] |

unsigned char | _ij1 [2] |

unsigned char | _ij2 [2] |

unsigned char | _ij3 [2] |

unsigned char | _ij4 [2] |

unsigned char | _ij5 [2] |

unsigned char | _ij6 [2] |

unsigned char | _nj0 |

unsigned char | _nj1 |

unsigned char | _nj2 |

unsigned char | _nj3 |

unsigned char | _nj4 |

unsigned char | _nj5 |

unsigned char | _nj6 |

IkReal | cj0 |

IkReal | cj1 |

IkReal | cj2 |

IkReal | cj3 |

IkReal | cj4 |

IkReal | cj5 |

IkReal | cj6 |

IkReal | htj0 |

IkReal | htj1 |

IkReal | htj2 |

IkReal | htj3 |

IkReal | htj4 |

IkReal | htj5 |

IkReal | htj6 |

IkReal | j0 |

IkReal | j1 |

IkReal | j2 |

IkReal | j3 |

IkReal | j4 |

IkReal | j5 |

IkReal | j6 |

IkReal | new_px |

IkReal | new_py |

IkReal | new_pz |

IkReal | new_r00 |

IkReal | new_r01 |

IkReal | new_r02 |

IkReal | new_r10 |

IkReal | new_r11 |

IkReal | new_r12 |

IkReal | new_r20 |

IkReal | new_r21 |

IkReal | new_r22 |

IkReal | npx |

IkReal | npy |

IkReal | npz |

IkReal | pp |

IkReal | px |

IkReal | py |

IkReal | pz |

IkReal | r00 |

IkReal | r01 |

IkReal | r02 |

IkReal | r10 |

IkReal | r11 |

IkReal | r12 |

IkReal | r20 |

IkReal | r21 |

IkReal | r22 |

IkReal | rxp0_0 |

IkReal | rxp0_1 |

IkReal | rxp0_2 |

IkReal | rxp1_0 |

IkReal | rxp1_1 |

IkReal | rxp1_2 |

IkReal | rxp2_0 |

IkReal | rxp2_1 |

IkReal | rxp2_2 |

IkReal | sj0 |

IkReal | sj1 |

IkReal | sj2 |

IkReal | sj3 |

IkReal | sj4 |

IkReal | sj5 |

IkReal | sj6 |

Definition at line 314 of file baxter_right_arm_ikfast_solver.cpp.

static bool IKSolver::checkconsistency8 | ( | const IkReal * | Breal | ) | ` [inline, static]` |

Definition at line 44329 of file baxter_right_arm_ikfast_solver.cpp.

bool IKSolver::ComputeIk | ( | const IkReal * | eetrans, |

const IkReal * | eerot, |
||

const IkReal * | pfree, |
||

IkSolutionListBase< IkReal > & | solutions |
||

) | ` [inline]` |

Definition at line 319 of file baxter_right_arm_ikfast_solver.cpp.

static void IKSolver::solvedialyticpoly8qep | ( | const IkReal * | matcoeffs, |

IkReal * | rawroots, |
||

int & | numroots |
||

) | ` [inline, static]` |

Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)

matcoeffs is of length 54*3, for 3 matrices

Definition at line 44341 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij0[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij1[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij2[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij3[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij4[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij5[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij6[2] |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj0 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj1 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj2 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj3 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj4 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj5 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj6 |

Definition at line 317 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj3 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj4 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj5 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::cj6 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj3 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj4 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj5 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::htj6 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j3 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j4 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j5 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::j6 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_px |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_py |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_pz |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r00 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r01 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r02 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r10 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r11 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r12 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r20 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r21 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r22 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::npx |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::npy |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::npz |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::pp |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::px |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::py |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::pz |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r00 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r01 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r02 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r10 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r11 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r12 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r20 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r21 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::r22 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj0 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj1 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj2 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj3 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj4 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj5 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

IkReal IKSolver::sj6 |

Definition at line 316 of file baxter_right_arm_ikfast_solver.cpp.

The documentation for this class was generated from the following file:

baxter_ikfast_right_arm_plugin

Author(s): Rethink Robotics Inc.

autogenerated on Fri Aug 28 2015 11:33:49

Author(s): Rethink Robotics Inc.

autogenerated on Fri Aug 28 2015 11:33:49