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 |
Definition at line 301 of file ikfast_lbr.cpp.
| 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.
| 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.
| 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.