#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

Include dependency graph for ikfast_lbr.cpp:

Classes
class	IKSolver
Defines
#define	__PRETTY_FUNCTION__ __func__
#define	IK2PI ((IkReal)6.28318530717959)
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define	IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6)
#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
#define	IKFAST_HAS_LIBRARY
#define	IKFAST_SINCOS_THRESH ((IkReal)0.000001)
#define	IKFAST_SOLUTION_THRESH ((IkReal)1e-6)
#define	IKFAST_STRINGIZE(s) IKFAST_STRINGIZE2(s)
#define	IKFAST_STRINGIZE2(s) #s
#define	IKPI ((IkReal)3.14159265358979)
#define	IKPI_2 ((IkReal)1.57079632679490)
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)
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)

Define Documentation

#define __PRETTY_FUNCTION__ __func__

Definition at line 49 of file ikfast_lbr.cpp.

#define IK2PI ((IkReal)6.28318530717959)

Definition at line 62 of file ikfast_lbr.cpp.

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

Definition at line 59 of file ikfast_lbr.cpp.

#define IKFAST_ASSERT ( b ) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

Definition at line 52 of file ikfast_lbr.cpp.

#define IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6)

Definition at line 104 of file ikfast_lbr.cpp.

#define IKFAST_COMPILE_ASSERT ( x ) extern int __dummy[(int)x]

Definition at line 25 of file ikfast_lbr.cpp.

#define IKFAST_HAS_LIBRARY

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 61 generated on 2012-10-19 19:21:24.890849 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 20 of file ikfast_lbr.cpp.

#define IKFAST_SINCOS_THRESH ((IkReal)0.000001)

Definition at line 99 of file ikfast_lbr.cpp.

#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

Definition at line 109 of file ikfast_lbr.cpp.

#define IKFAST_STRINGIZE ( s ) IKFAST_STRINGIZE2(s)

Definition at line 35 of file ikfast_lbr.cpp.

#define IKFAST_STRINGIZE2 ( s ) #s

Definition at line 34 of file ikfast_lbr.cpp.

#define IKPI ((IkReal)3.14159265358979)

Definition at line 63 of file ikfast_lbr.cpp.

#define IKPI_2 ((IkReal)1.57079632679490)

Definition at line 64 of file ikfast_lbr.cpp.

Function Documentation

IKFAST_API void ComputeFk	(	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 210 of file ikfast_lbr.cpp.

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

solves the inverse kinematics equations.

Parameters:

pfree is an array specifying the free joints of the chain.

Definition at line 19273 of file ikfast_lbr.cpp.

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 ( )

Definition at line 294 of file ikfast_lbr.cpp.

IKFAST_API const char* GetIkFastVersion ( )

Definition at line 19280 of file ikfast_lbr.cpp.

IKFAST_API int GetIkRealSize ( )

Definition at line 297 of file ikfast_lbr.cpp.

IKFAST_API int GetIkType ( )

Definition at line 299 of file ikfast_lbr.cpp.

IKFAST_API const char* GetKinematicsHash ( )

Definition at line 19278 of file ikfast_lbr.cpp.

IKFAST_API int GetNumFreeParameters ( )

Definition at line 293 of file ikfast_lbr.cpp.

IKFAST_API int GetNumJoints ( )

Definition at line 295 of file ikfast_lbr.cpp.

float IKabs ( float f ) [inline]

Definition at line 88 of file ikfast_lbr.cpp.

double IKabs ( double f ) [inline]

Definition at line 89 of file ikfast_lbr.cpp.

float IKacos ( float f ) [inline]

Definition at line 145 of file ikfast_lbr.cpp.

double IKacos ( double f ) [inline]

Definition at line 152 of file ikfast_lbr.cpp.

float IKasin ( float f ) [inline]

Definition at line 112 of file ikfast_lbr.cpp.

double IKasin ( double f ) [inline]

Definition at line 119 of file ikfast_lbr.cpp.

float IKatan2	(	float	fy,
		float	fx
	)		`[inline]`

Definition at line 167 of file ikfast_lbr.cpp.

double IKatan2	(	double	fy,
		double	fx
	)		`[inline]`

Definition at line 177 of file ikfast_lbr.cpp.

float IKcos ( float f ) [inline]

Definition at line 161 of file ikfast_lbr.cpp.

double IKcos ( double f ) [inline]

Definition at line 162 of file ikfast_lbr.cpp.

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =61 )

float IKfmod	(	float	x,
		float	y
	)		`[inline]`

Definition at line 128 of file ikfast_lbr.cpp.

double IKfmod	(	double	x,
		double	y
	)		`[inline]`

Definition at line 137 of file ikfast_lbr.cpp.

float IKlog ( float f ) [inline]

Definition at line 94 of file ikfast_lbr.cpp.

double IKlog ( double f ) [inline]

Definition at line 95 of file ikfast_lbr.cpp.

float IKsign ( float f ) [inline]

Definition at line 188 of file ikfast_lbr.cpp.

double IKsign ( double f ) [inline]

Definition at line 198 of file ikfast_lbr.cpp.

float IKsin ( float f ) [inline]

Definition at line 159 of file ikfast_lbr.cpp.

double IKsin ( double f ) [inline]

Definition at line 160 of file ikfast_lbr.cpp.

float IKsqr ( float f ) [inline]

Definition at line 91 of file ikfast_lbr.cpp.

double IKsqr ( double f ) [inline]

Definition at line 92 of file ikfast_lbr.cpp.

float IKsqrt ( float f ) [inline]

Definition at line 165 of file ikfast_lbr.cpp.

double IKsqrt ( double f ) [inline]

Definition at line 166 of file ikfast_lbr.cpp.

float IKtan ( float f ) [inline]

Definition at line 163 of file ikfast_lbr.cpp.

double IKtan ( double f ) [inline]

Definition at line 164 of file ikfast_lbr.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 19292 of file ikfast_lbr.cpp.

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

Classes

Defines

Functions

Define Documentation

Function Documentation