#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

Include dependency graph for fetch_arm_ikfast_solver.cpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
struct	CheckValue< T >
class	IKSolver
Defines
#define	__PRETTY_FUNCTION__ __func__
#define	IK2PI ((IkReal)6.28318530717959)
#define	IK2PI ((IkReal)6.28318530717959)
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define	IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)
#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]
#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)
#define	IKFAST_HAS_LIBRARY
#define	IKFAST_HAS_LIBRARY
#define	IKFAST_SINCOS_THRESH ((IkReal)1e-7)
#define	IKFAST_SOLUTION_THRESH ((IkReal)1e-6)
#define	IKPI ((IkReal)3.14159265358979)
#define	IKPI ((IkReal)3.14159265358979)
#define	IKPI_2 ((IkReal)1.57079632679490)
#define	IKPI_2 ((IkReal)1.57079632679490)
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)
IKFAST_API bool	ComputeIk2 (const IkReal eetrans, const IkReal eerot, const IkReal pfree, IkSolutionListBase< IkReal > &solutions, void pOpenRAVEManip)
void	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	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	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 *	GetFreeParameters ()
IKFAST_API const char *	GetIkFastVersion ()
IKFAST_API int	GetIkRealSize ()
IKFAST_API int	GetIkType ()
IKFAST_API const char *	GetKinematicsHash ()
IKFAST_API int	GetNumFreeParameters ()
IKFAST_API int	GetNumJoints ()
float	IKabs (float f)
double	IKabs (double f)
float	IKacos (float f)
double	IKacos (double f)
float	IKasin (float f)
double	IKasin (double f)
float	IKatan2 (float fy, float fx)
double	IKatan2 (double fy, double fx)
float	IKatan2Simple (float fy, float fx)
double	IKatan2Simple (double fy, double fx)
template<typename T >
CheckValue< T >	IKatan2WithCheck (T fy, T fx, T epsilon)
float	IKcos (float f)
double	IKcos (double f)
	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x10000049)
float	IKfmod (float x, float y)
double	IKfmod (double x, double y)
float	IKlog (float f)
double	IKlog (double f)
template<typename T >
CheckValue< T >	IKPowWithIntegerCheck (T f, int n)
float	IKsign (float f)
double	IKsign (double f)
float	IKsin (float f)
double	IKsin (double f)
float	IKsqr (float f)
double	IKsqr (double f)
float	IKsqrt (float f)
double	IKsqrt (double f)
float	IKtan (float f)
double	IKtan (double f)
int	main (int argc, char **argv)
void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Define Documentation

#define __PRETTY_FUNCTION__ __func__

Definition at line 47 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IK2PI ((IkReal)6.28318530717959)

Definition at line 59 of file fetch_arm_ikfast_solver.cpp.

#define IK2PI ((IkReal)6.28318530717959)

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

Definition at line 56 of file fetch_arm_ikfast_solver.cpp.

#define IKFAST_ASSERT ( b ) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

Definition at line 50 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)

Definition at line 108 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IKFAST_COMPILE_ASSERT ( x ) extern int __dummy[(int)x]

Definition at line 25 of file fetch_arm_ikfast_solver.cpp.

#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Definition at line 118 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IKFAST_HAS_LIBRARY

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 0x10000049 generated on 2016-08-23 13:37:00.154880 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 20 of file fetch_arm_ikfast_solver.cpp.

#define IKFAST_HAS_LIBRARY

#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)

Definition at line 103 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

Definition at line 113 of file fetch_arm_ikfast_moveit_plugin.cpp.

#define IKPI ((IkReal)3.14159265358979)

Definition at line 60 of file fetch_arm_ikfast_solver.cpp.

#define IKPI ((IkReal)3.14159265358979)

#define IKPI_2 ((IkReal)1.57079632679490)

Definition at line 61 of file fetch_arm_ikfast_solver.cpp.

Function Documentation

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

solves the forward kinematics equations.

Parameters:

pfree is an array specifying the free joints of the chain.

Definition at line 299 of file fetch_arm_ikfast_solver.cpp.

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

solves the inverse kinematics equations.

Parameters:

pfree is an array specifying the free joints of the chain.

Definition at line 17437 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API bool ComputeIk2	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions,
		void *	pOpenRAVEManip
	)

Definition at line 17442 of file fetch_arm_ikfast_solver.cpp.

void 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 dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

void dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

void dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

void 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* GetFreeParameters ( )

Definition at line 376 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API const char* GetIkFastVersion ( )

Definition at line 17449 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API int GetIkRealSize ( )

Definition at line 379 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API int GetIkType ( )

Definition at line 381 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API const char* GetKinematicsHash ( )

Definition at line 17447 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API int GetNumFreeParameters ( )

Definition at line 375 of file fetch_arm_ikfast_solver.cpp.

IKFAST_API int GetNumJoints ( )

Definition at line 377 of file fetch_arm_ikfast_solver.cpp.

float IKabs ( float f ) [inline]

Definition at line 91 of file fetch_arm_ikfast_solver.cpp.

double IKabs ( double f ) [inline]

Definition at line 92 of file fetch_arm_ikfast_solver.cpp.

float IKacos ( float f ) [inline]

Definition at line 154 of file fetch_arm_ikfast_solver.cpp.

double IKacos ( double f ) [inline]

Definition at line 161 of file fetch_arm_ikfast_solver.cpp.

float IKasin ( float f ) [inline]

Definition at line 121 of file fetch_arm_ikfast_solver.cpp.

double IKasin ( double f ) [inline]

Definition at line 128 of file fetch_arm_ikfast_solver.cpp.

float IKatan2	(	float	fy,
		float	fx
	)		`[inline]`

Definition at line 179 of file fetch_arm_ikfast_solver.cpp.

double IKatan2	(	double	fy,
		double	fx
	)		`[inline]`

Definition at line 192 of file fetch_arm_ikfast_solver.cpp.

float IKatan2Simple	(	float	fy,
		float	fx
	)		`[inline]`

Definition at line 176 of file fetch_arm_ikfast_solver.cpp.

double IKatan2Simple	(	double	fy,
		double	fx
	)		`[inline]`

Definition at line 189 of file fetch_arm_ikfast_solver.cpp.

template<typename T >

CheckValue<T> IKatan2WithCheck	(	T	fy,
		T	fx,
		T	epsilon
	)		`[inline]`

Definition at line 211 of file fetch_arm_ikfast_solver.cpp.

float IKcos ( float f ) [inline]

Definition at line 170 of file fetch_arm_ikfast_solver.cpp.

double IKcos ( double f ) [inline]

Definition at line 171 of file fetch_arm_ikfast_solver.cpp.

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =0x10000049 )

float IKfmod	(	float	x,
		float	y
	)		`[inline]`

Definition at line 137 of file fetch_arm_ikfast_solver.cpp.

double IKfmod	(	double	x,
		double	y
	)		`[inline]`

Definition at line 146 of file fetch_arm_ikfast_solver.cpp.

float IKlog ( float f ) [inline]

Definition at line 97 of file fetch_arm_ikfast_solver.cpp.

double IKlog ( double f ) [inline]

Definition at line 98 of file fetch_arm_ikfast_solver.cpp.

template<typename T >

CheckValue<T> IKPowWithIntegerCheck	(	T	f,
		int	n
	)		`[inline]`

Definition at line 246 of file fetch_arm_ikfast_solver.cpp.

float IKsign ( float f ) [inline]

Definition at line 225 of file fetch_arm_ikfast_solver.cpp.

double IKsign ( double f ) [inline]

Definition at line 235 of file fetch_arm_ikfast_solver.cpp.

float IKsin ( float f ) [inline]

Definition at line 168 of file fetch_arm_ikfast_solver.cpp.

double IKsin ( double f ) [inline]

Definition at line 169 of file fetch_arm_ikfast_solver.cpp.

float IKsqr ( float f ) [inline]

Definition at line 94 of file fetch_arm_ikfast_solver.cpp.

double IKsqr ( double f ) [inline]

Definition at line 95 of file fetch_arm_ikfast_solver.cpp.

float IKsqrt ( float f ) [inline]

Definition at line 174 of file fetch_arm_ikfast_solver.cpp.

double IKsqrt ( double f ) [inline]

Definition at line 175 of file fetch_arm_ikfast_solver.cpp.

float IKtan ( float f ) [inline]

Definition at line 172 of file fetch_arm_ikfast_solver.cpp.

double IKtan ( double f ) [inline]

Definition at line 173 of file fetch_arm_ikfast_solver.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 17461 of file fetch_arm_ikfast_solver.cpp.

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

Classes

Defines

Functions

Define Documentation

Function Documentation