ikfast_ur10.cpp File Reference

#include "ikfast.h"
#include <math.h>
#include <stdio.h>

Include dependency graph for ikfast_ur10.cpp:

Go to the source code of this file.

Namespaces
namespace	ur_kinematics
Defines
#define	a2   -0.612
#define	a3   -0.5723
#define	d1   0.1273
#define	d4   0.163941
#define	d5   0.1157
#define	d6   0.0922
#define	IKFAST_HAS_LIBRARY
#define	PI   M_PI
#define	SIGN(x)   ( ( (x) > 0 ) - ( (x) < 0 ) )
#define	UR10_PARAMS
#define	ZERO_THRESH   0.00000001
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	ur_kinematics::forward (const double *q, double *T)
void	from_mat44 (const double *mat4_4, IkReal *eetrans, IkReal *eerot)
IKFAST_API int *	GetFreeParameters ()
IKFAST_API int	GetIkRealSize ()
IKFAST_API int	GetNumFreeParameters ()
IKFAST_API int	GetNumJoints ()
int	ur_kinematics::inverse (const double *T, double *q_sols, double q6_des)
void	to_mat44 (double *mat4_4, const IkReal *eetrans, const IkReal *eerot)

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Define Documentation

#define a2   -0.612

Definition at line 15 of file ikfast_ur10.cpp.

#define a3   -0.5723

Definition at line 16 of file ikfast_ur10.cpp.

#define d1   0.1273

Definition at line 14 of file ikfast_ur10.cpp.

#define d4   0.163941

Definition at line 17 of file ikfast_ur10.cpp.

#define d5   0.1157

Definition at line 18 of file ikfast_ur10.cpp.

#define d6   0.0922

Definition at line 19 of file ikfast_ur10.cpp.

#define IKFAST_HAS_LIBRARY

Definition at line 1 of file ikfast_ur10.cpp.

#define PI   M_PI

Definition at line 10 of file ikfast_ur10.cpp.

#define SIGN

(

x

)

( ( (x) > 0 ) - ( (x) < 0 ) )

Definition at line 9 of file ikfast_ur10.cpp.

#define UR10_PARAMS

Definition at line 11 of file ikfast_ur10.cpp.

#define ZERO_THRESH   0.00000001

Definition at line 8 of file ikfast_ur10.cpp.

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Function Documentation

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

Definition at line 256 of file ikfast_ur10.cpp.

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

Definition at line 237 of file ikfast_ur10.cpp.

void from_mat44	(	const double *	mat4_4,
		IkReal *	eetrans,
		IkReal *	eerot
	)

Definition at line 226 of file ikfast_ur10.cpp.

IKFAST_API int* GetFreeParameters

(

)

Definition at line 264 of file ikfast_ur10.cpp.

IKFAST_API int GetIkRealSize

(

)

Definition at line 267 of file ikfast_ur10.cpp.

IKFAST_API int GetNumFreeParameters

(

)

Definition at line 263 of file ikfast_ur10.cpp.

IKFAST_API int GetNumJoints

(

)

Definition at line 265 of file ikfast_ur10.cpp.

void to_mat44	(	double *	mat4_4,
		const IkReal *	eetrans,
		const IkReal *	eerot
	)

Definition at line 211 of file ikfast_ur10.cpp.