#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>
#include "fetch_arm_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.h>

Include dependency graph for fetch_arm_ikfast_moveit_plugin.cpp:

Classes
struct	ikfast_kinematics_plugin::CheckValue< T >
class	ikfast_kinematics_plugin::IKFastKinematicsPlugin
class	ikfast_kinematics_plugin::IKSolver
Namespaces
namespace	ikfast_kinematics_plugin
namespace	urdf
Defines
#define	IKFAST_NO_MAIN
Typedefs
typedef boost::shared_ptr< Joint >	urdf::JointSharedPtr
typedef boost::shared_ptr< Link >	urdf::LinkSharedPtr
Enumerations
enum	ikfast_kinematics_plugin::IkParameterizationType { ikfast_kinematics_plugin::IKP_None = 0, ikfast_kinematics_plugin::IKP_Transform6D = 0x67000001, ikfast_kinematics_plugin::IKP_Rotation3D = 0x34000002, ikfast_kinematics_plugin::IKP_Translation3D = 0x33000003, ikfast_kinematics_plugin::IKP_Direction3D = 0x23000004, ikfast_kinematics_plugin::IKP_Ray4D = 0x46000005, ikfast_kinematics_plugin::IKP_Lookat3D = 0x23000006, ikfast_kinematics_plugin::IKP_TranslationDirection5D = 0x56000007, ikfast_kinematics_plugin::IKP_TranslationXY2D = 0x22000008, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3D = 0x33000009, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6D = 0x3600000a, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4D = 0x4400000b, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4D = 0x4400000c, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4D = 0x4400000d, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ikfast_kinematics_plugin::IKP_NumberOfParameterizations = 16, ikfast_kinematics_plugin::IKP_VelocityDataBit = 0x00008000, ikfast_kinematics_plugin::IKP_Transform6DVelocity = IKP_Transform6D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Rotation3DVelocity = IKP_Rotation3D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Translation3DVelocity = IKP_Translation3D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Direction3DVelocity = IKP_Direction3D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Ray4DVelocity = IKP_Ray4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_Lookat3DVelocity = IKP_Lookat3D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D\|IKP_VelocityDataBit, ikfast_kinematics_plugin::IKP_UniqueIdMask = 0x0000ffff, ikfast_kinematics_plugin::IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...
enum	SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1, OPTIMIZE_MAX_JOINT = 2 }
	Search modes for searchPositionIK(), see there. More...
Functions
IKFAST_API void	ikfast_kinematics_plugin::ComputeFk (const IkReal j, IkReal eetrans, IkReal *eerot)
IKFAST_API bool	ikfast_kinematics_plugin::ComputeIk (const IkReal eetrans, const IkReal eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
IKFAST_API bool	ikfast_kinematics_plugin::ComputeIk2 (const IkReal eetrans, const IkReal eerot, const IkReal pfree, IkSolutionListBase< IkReal > &solutions, void pOpenRAVEManip)
template<class T , class U >
boost::shared_ptr< T >	urdf::const_pointer_cast (boost::shared_ptr< U > const &r)
void	ikfast_kinematics_plugin::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	ikfast_kinematics_plugin::dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	ikfast_kinematics_plugin::dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	ikfast_kinematics_plugin::dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	ikfast_kinematics_plugin::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 *	ikfast_kinematics_plugin::GetFreeParameters ()
IKFAST_API const char *	ikfast_kinematics_plugin::GetIkFastVersion ()
IKFAST_API int	ikfast_kinematics_plugin::GetIkRealSize ()
IKFAST_API int	ikfast_kinematics_plugin::GetIkType ()
IKFAST_API const char *	ikfast_kinematics_plugin::GetKinematicsHash ()
IKFAST_API int	ikfast_kinematics_plugin::GetNumFreeParameters ()
IKFAST_API int	ikfast_kinematics_plugin::GetNumJoints ()
float	ikfast_kinematics_plugin::IKabs (float f)
double	ikfast_kinematics_plugin::IKabs (double f)
float	ikfast_kinematics_plugin::IKacos (float f)
double	ikfast_kinematics_plugin::IKacos (double f)
float	ikfast_kinematics_plugin::IKasin (float f)
double	ikfast_kinematics_plugin::IKasin (double f)
float	ikfast_kinematics_plugin::IKatan2 (float fy, float fx)
double	ikfast_kinematics_plugin::IKatan2 (double fy, double fx)
float	ikfast_kinematics_plugin::IKatan2Simple (float fy, float fx)
double	ikfast_kinematics_plugin::IKatan2Simple (double fy, double fx)
template<typename T >
CheckValue< T >	ikfast_kinematics_plugin::IKatan2WithCheck (T fy, T fx, T epsilon)
float	ikfast_kinematics_plugin::IKcos (float f)
double	ikfast_kinematics_plugin::IKcos (double f)
	ikfast_kinematics_plugin::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x10000049)
float	ikfast_kinematics_plugin::IKfmod (float x, float y)
double	ikfast_kinematics_plugin::IKfmod (double x, double y)
float	ikfast_kinematics_plugin::IKlog (float f)
double	ikfast_kinematics_plugin::IKlog (double f)
template<typename T >
CheckValue< T >	ikfast_kinematics_plugin::IKPowWithIntegerCheck (T f, int n)
float	ikfast_kinematics_plugin::IKsign (float f)
double	ikfast_kinematics_plugin::IKsign (double f)
float	ikfast_kinematics_plugin::IKsin (float f)
double	ikfast_kinematics_plugin::IKsin (double f)
float	ikfast_kinematics_plugin::IKsqr (float f)
double	ikfast_kinematics_plugin::IKsqr (double f)
float	ikfast_kinematics_plugin::IKsqrt (float f)
double	ikfast_kinematics_plugin::IKsqrt (double f)
float	ikfast_kinematics_plugin::IKtan (float f)
double	ikfast_kinematics_plugin::IKtan (double f)
	PLUGINLIB_EXPORT_CLASS (ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase)
void	ikfast_kinematics_plugin::zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)
Variables
const double	LIMIT_TOLERANCE = .0000001