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)
void	innerfn (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	_ij0 [2]
unsigned char	_ij1 [2]
unsigned char	_ij100 [2]
unsigned char	_ij2 [2]
unsigned char	_ij3 [2]
unsigned char	_ij4 [2]
unsigned char	_nj0
unsigned char	_nj1
unsigned char	_nj100
unsigned char	_nj2
unsigned char	_nj3
unsigned char	_nj4
IkReal	cj0
IkReal	cj1
IkReal	cj100
IkReal	cj2
IkReal	cj3
IkReal	cj4
IkReal	htj0
IkReal	htj1
IkReal	htj2
IkReal	htj3
IkReal	htj4
IkReal	j0
IkReal	j0mul
IkReal	j1
IkReal	j100
IkReal	j1mul
IkReal	j2
IkReal	j2mul
IkReal	j3
IkReal	j3mul
IkReal	j4
IkReal	j4mul
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	sj100
IkReal	sj2
IkReal	sj3
IkReal	sj4

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Detailed Description

Definition at line 353 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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Member Function Documentation

static bool ikfast_kinematics_plugin::IKSolver::checkconsistency8

(

const IkReal *

Breal

)

[inline, static]

Definition at line 14234 of file komodo_arm_arm_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 360 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKSolver::innerfn

(

IkSolutionListBase< IkReal > &

solutions

)

[inline]

Definition at line 833 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

static void 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 14247 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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Member Data Documentation

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

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij100[2]

Definition at line 359 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj0

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj1

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj100

Definition at line 359 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj2

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj3

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj4

Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj0

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj1

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj100

Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj2

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj3

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj4

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj0

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj1

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj2

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj3

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj4

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0mul

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j100

Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1mul

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2mul

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3mul

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j4

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j4mul

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npx

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npy

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npz

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pp

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::px

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::py

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pz

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r00

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r01

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r02

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj0

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj1

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj100

Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj2

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj3

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj4

Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.

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

• komodo_arm_arm_ikfast_solver.cpp