nextage_right_arm_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	_ij10 [2]
unsigned char	_ij11 [2]
unsigned char	_ij12 [2]
unsigned char	_ij13 [2]
unsigned char	_ij14 [2]
unsigned char	_ij9 [2]
unsigned char	_nj10
unsigned char	_nj11
unsigned char	_nj12
unsigned char	_nj13
unsigned char	_nj14
unsigned char	_nj9
IkReal	cj10
IkReal	cj11
IkReal	cj12
IkReal	cj13
IkReal	cj14
IkReal	cj9
IkReal	htj10
IkReal	htj11
IkReal	htj12
IkReal	htj13
IkReal	htj14
IkReal	htj9
IkReal	j10
IkReal	j11
IkReal	j12
IkReal	j13
IkReal	j14
IkReal	j9
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	sj10
IkReal	sj11
IkReal	sj12
IkReal	sj13
IkReal	sj14
IkReal	sj9

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Detailed Description

Definition at line 315 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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Member Function Documentation

static bool nextage_right_arm_ikfast_kinematics_plugin::IKSolver::checkconsistency8

(

const IkReal *

Breal

)

[inline, static]

Definition at line 17010 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 320 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

static void nextage_right_arm_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 17022 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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Member Data Documentation

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij10[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij11[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij12[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij13[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij14[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij9[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj10

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj11

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj12

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj13

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj14

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj9

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npx

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npy

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::pp

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::px

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::py

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::pz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r00

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r01

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r02

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r20

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r21

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r22

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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

• nextage_right_arm_ikfast_solver.cpp