IKSolver Class Reference

List of all members.

Public Member Functions
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)
Static Public Member Functions
static bool	checkconsistency12 (const IkReal *Breal)
static bool	checkconsistency8 (const IkReal *Breal)
template<int D>
static bool	matrixinverse (IkReal *A)
static void	solvedialyticpoly12qep (const IkReal *matcoeffs, IkReal *rawroots, int &numroots)
	Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)
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

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Detailed Description

Definition at line 301 of file ikfast_lbr.cpp.

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Member Function Documentation

static bool IKSolver::checkconsistency12

(

const IkReal *

Breal

)

[inline, static]

Definition at line 5292 of file ikfast_ur5.cpp.

static bool IKSolver::checkconsistency8

(

const IkReal *

Breal

)

[inline, static]

Definition at line 19121 of file ikfast_lbr.cpp.

bool IKSolver::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)		[inline]

Definition at line 283 of file ikfast_ur5.cpp.

bool IKSolver::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)		[inline]

Definition at line 306 of file ikfast_lbr.cpp.

bool IKSolver::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)		[inline]

Definition at line 309 of file ikfast_lwa.cpp.

template<int D>

static bool IKSolver::matrixinverse

(

IkReal *

A

)

[inline, static]

Definition at line 5138 of file ikfast_ur5.cpp.

void IKSolver::rotationfunction0

(

IkSolutionListBase< IkReal > &

solutions

)

[inline]

Definition at line 1912 of file ikfast_lwa.cpp.

static void IKSolver::solvedialyticpoly12qep	(	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 5156 of file ikfast_ur5.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 19133 of file ikfast_lbr.cpp.

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Member Data Documentation

unsigned char IKSolver::_ij0

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij1

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij2

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij3

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij4

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij5

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij6

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj0

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj1

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj2

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj3

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj4

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj5

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj6

Definition at line 304 of file ikfast_lbr.cpp.

IkReal IKSolver::cj0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj6

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::htj6

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j6

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_px

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_py

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_pz

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r00

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r01

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r02

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r10

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r11

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r12

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r20

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r21

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::new_r22

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npx

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npy

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npz

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::pp

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::px

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::py

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::pz

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r00

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r01

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r02

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r10

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r11

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r12

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r20

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r21

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r22

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp0_0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp0_1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp0_2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp1_0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp1_1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp1_2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp2_0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp2_1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::rxp2_2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj6

Definition at line 303 of file ikfast_lbr.cpp.

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

• ikfast_lbr.cpp
• ikfast_lwa.cpp
• ikfast_ur5.cpp