ikfast_kinematics_plugin::IKSolver Class Reference

List of all members.

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

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Detailed Description

Definition at line 315 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

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Member Function Documentation

static bool ikfast_kinematics_plugin::IKSolver::checkconsistency8

(

const IkReal *

Breal

)

[inline, static]

Definition at line 44330 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 320 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::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 44342 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

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Member Data Documentation

unsigned char ikfast_kinematics_plugin::IKSolver::_ij0[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij1[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij2[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij3[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij4[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij5[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij6[2]

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj0

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj1

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj2

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj3

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj4

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj5

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj6

Definition at line 318 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj3

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj4

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj5

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj6

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj3

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj4

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj5

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj6

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j4

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j6

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npx

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npy

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npz

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pp

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::px

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::py

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pz

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r00

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r01

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r02

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r10

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r11

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r12

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r20

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r21

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r22

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj0

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj1

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj2

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj3

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj4

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj5

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj6

Definition at line 317 of file baxter_left_arm_ikfast_moveit_plugin.cpp.

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

• baxter_left_arm_ikfast_solver.cpp