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)
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
Static Public Member Functions
static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
static void	polyroots8 (IkReal rawcoeffs[8+1], IkReal rawroots[8], int &numroots)
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	_nj0
unsigned char	_nj1
unsigned char	_nj2
unsigned char	_nj3
unsigned char	_nj4
unsigned char	_nj5
IkReal	cj0
IkReal	cj1
IkReal	cj2
IkReal	cj3
IkReal	cj4
IkReal	cj5
IkReal	htj0
IkReal	htj1
IkReal	htj2
IkReal	htj3
IkReal	htj4
IkReal	htj5
IkReal	j0
IkReal	j1
IkReal	j2
IkReal	j3
IkReal	j4
IkReal	j5
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

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Detailed Description

Definition at line 254 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

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Member Function Documentation

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

Definition at line 259 of file fanuc_m430ia2f_manipulator_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 298 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)		[inline, static]

Definition at line 3854 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots8	(	IkReal	rawcoeffs[8+1],
		IkReal	rawroots[8],
		int &	numroots
	)		[inline, static]

Definition at line 8212 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

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Member Data Documentation

unsigned char IKSolver::_ij0

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_ij1

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_ij2

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_ij3

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_ij4

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 296 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_nj0

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_nj1

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_nj2

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_nj3

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char IKSolver::_nj4

Definition at line 257 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj5

Definition at line 296 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::cj0

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::cj1

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::cj2

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::cj3

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::cj4

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj5

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::htj0

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::htj1

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::htj2

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::htj3

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::htj4

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj5

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::j0

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::j1

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::j2

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::j3

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::j4

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_px

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_py

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_pz

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_r00

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_r01

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::new_r02

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::npx

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::npy

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::npz

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::pp

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::px

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::py

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::pz

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::r00

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::r01

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::r02

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r10

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r11

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r12

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r20

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r21

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r22

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::rxp0_0

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::rxp0_1

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::rxp0_2

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::sj0

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::sj1

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::sj2

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::sj3

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal IKSolver::sj4

Definition at line 256 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj5

Definition at line 295 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.

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

• fanuc_m430ia2f_manipulator_ikfast_solver.cpp
• fanuc_m430ia2p_manipulator_ikfast_solver.cpp