katana_450_6m90a_kinematics::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 void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], 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	_nj0
unsigned char	_nj1
unsigned char	_nj2
unsigned char	_nj3
unsigned char	_nj4
IkReal	cj0
IkReal	cj1
IkReal	cj2
IkReal	cj3
IkReal	cj4
IkReal	htj0
IkReal	htj1
IkReal	htj2
IkReal	htj3
IkReal	htj4
IkReal	j0
IkReal	j1
IkReal	j2
IkReal	j3
IkReal	j4
IkReal	new_px
IkReal	new_py
IkReal	new_pz
IkReal	new_r00
IkReal	new_r01
IkReal	new_r02
IkReal	npx
IkReal	npy
IkReal	npz
IkReal	pp
IkReal	px
IkReal	py
IkReal	pz
IkReal	r00
IkReal	r01
IkReal	r02
IkReal	rxp0_0
IkReal	rxp0_1
IkReal	rxp0_2
IkReal	sj0
IkReal	sj1
IkReal	sj2
IkReal	sj3
IkReal	sj4

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Detailed Description

Definition at line 261 of file katana_450_6m90a_ikfast_plugin.cpp.

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Member Function Documentation

bool katana_450_6m90a_kinematics::IKSolver::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)		[inline]

Definition at line 266 of file katana_450_6m90a_ikfast_plugin.cpp.

static void katana_450_6m90a_kinematics::IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)		[inline, static]

Definition at line 1395 of file katana_450_6m90a_ikfast_plugin.cpp.

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Member Data Documentation

unsigned char katana_450_6m90a_kinematics::IKSolver::_ij0[2]

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_ij1[2]

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_ij2[2]

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_ij3[2]

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_ij4[2]

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_nj0

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_nj1

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_nj2

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_nj3

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

unsigned char katana_450_6m90a_kinematics::IKSolver::_nj4

Definition at line 264 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::cj0

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::cj1

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::cj2

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::cj3

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::cj4

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::htj0

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::htj1

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::htj2

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::htj3

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::htj4

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::j0

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::j1

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::j2

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::j3

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::j4

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_px

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_py

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_pz

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_r00

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_r01

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::new_r02

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::npx

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::npy

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::npz

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::pp

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::px

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::py

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::pz

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::r00

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::r01

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::r02

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::rxp0_0

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::rxp0_1

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::rxp0_2

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::sj0

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::sj1

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::sj2

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::sj3

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

IkReal katana_450_6m90a_kinematics::IKSolver::sj4

Definition at line 263 of file katana_450_6m90a_ikfast_plugin.cpp.

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

• katana_450_6m90a_ikfast_solver.cpp