Classes | Namespaces | Defines | Enumerations | Functions | Variables
fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp File Reference
#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>
#include "fanuc_lrmate200ic_manipulator_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.h>
Include dependency graph for fanuc_lrmate200ic_manipulator_ikfast_moveit_plugin.cpp:

Go to the source code of this file.

Classes

class  ikfast_kinematics_plugin::IKFastKinematicsPlugin
class  ikfast_kinematics_plugin::IKSolver

Namespaces

namespace  ikfast_kinematics_plugin

Defines

#define IKFAST_NO_MAIN

Enumerations

enum  ikfast_kinematics_plugin::IkParameterizationType {
  ikfast_kinematics_plugin::IKP_None = 0, ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001, ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002, ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003,
  ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004, ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005, ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006, ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007,
  ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b,
  ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f,
  ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16, ikfast_kinematics_plugin::IKP_VelocityDataBit = 0x00008000, ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff,
  ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000, ikfast_kinematics_plugin::IKP_None = 0, ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001, ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002,
  ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003, ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004, ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005, ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006,
  ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007, ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a,
  ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e,
  ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16, ikfast_kinematics_plugin::IKP_VelocityDataBit = 0x00008000,
  ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff, ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000, ikfast_kinematics_plugin::IKP_None = 0, ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001,
  ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002, ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003, ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004, ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005,
  ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006, ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007, ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009,
  ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d,
  ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16,
  ikfast_kinematics_plugin::IKP_VelocityDataBit = 0x00008000, ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff, ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000, ikfast_kinematics_plugin::IKP_None = 0,
  ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001, ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002, ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003, ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004,
  ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005, ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006, ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007, ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008,
  ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c,
  ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010,
  ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16, ikfast_kinematics_plugin::IKP_VelocityDataBit = 0x00008000, ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit,
  ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff, ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000
}
 The types of inverse kinematics parameterizations supported. More...

Functions

IKFAST_API void ikfast_kinematics_plugin::ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool ikfast_kinematics_plugin::ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
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)
IKFAST_API int * ikfast_kinematics_plugin::GetFreeParameters ()
IKFAST_API const char * ikfast_kinematics_plugin::GetIkFastVersion ()
IKFAST_API int ikfast_kinematics_plugin::GetIkRealSize ()
IKFAST_API int ikfast_kinematics_plugin::GetIkType ()
IKFAST_API const char * ikfast_kinematics_plugin::GetKinematicsHash ()
IKFAST_API int ikfast_kinematics_plugin::GetNumFreeParameters ()
IKFAST_API int ikfast_kinematics_plugin::GetNumJoints ()
float ikfast_kinematics_plugin::IKabs (float f)
double ikfast_kinematics_plugin::IKabs (double f)
float ikfast_kinematics_plugin::IKacos (float f)
double ikfast_kinematics_plugin::IKacos (double f)
float ikfast_kinematics_plugin::IKasin (float f)
double ikfast_kinematics_plugin::IKasin (double f)
float ikfast_kinematics_plugin::IKatan2 (float fy, float fx)
double ikfast_kinematics_plugin::IKatan2 (double fy, double fx)
float ikfast_kinematics_plugin::IKcos (float f)
double ikfast_kinematics_plugin::IKcos (double f)
 ikfast_kinematics_plugin::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)
float ikfast_kinematics_plugin::IKfmod (float x, float y)
double ikfast_kinematics_plugin::IKfmod (double x, double y)
float ikfast_kinematics_plugin::IKlog (float f)
double ikfast_kinematics_plugin::IKlog (double f)
float ikfast_kinematics_plugin::IKsign (float f)
double ikfast_kinematics_plugin::IKsign (double f)
float ikfast_kinematics_plugin::IKsin (float f)
double ikfast_kinematics_plugin::IKsin (double f)
float ikfast_kinematics_plugin::IKsqr (float f)
double ikfast_kinematics_plugin::IKsqr (double f)
float ikfast_kinematics_plugin::IKsqrt (float f)
double ikfast_kinematics_plugin::IKsqrt (double f)
float ikfast_kinematics_plugin::IKtan (float f)
double ikfast_kinematics_plugin::IKtan (double f)
 PLUGINLIB_EXPORT_CLASS (ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase)
void ikfast_kinematics_plugin::zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)

Variables

const double LIMIT_TOLERANCE = .0000001

Define Documentation

#define IKFAST_NO_MAIN

Function Documentation


Variable Documentation

const double LIMIT_TOLERANCE = .0000001


fanuc_lrmate200ic_moveit_plugins
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Wed Aug 26 2015 11:33:52