1 #define IKFAST_HAS_LIBRARY 25 #define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] 34 #define IKFAST_STRINGIZE2(s) #s 35 #define IKFAST_STRINGIZE(s) IKFAST_STRINGIZE2(s) 43 #ifndef __PRETTY_FUNCTION__ 44 #define __PRETTY_FUNCTION__ __FUNCDNAME__ 48 #ifndef __PRETTY_FUNCTION__ 49 #define __PRETTY_FUNCTION__ __func__ 52 #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()); } } 57 #define IKFAST_ALIGNED16(x) __declspec(align(16)) x 59 #define IKFAST_ALIGNED16(x) x __attribute((aligned(16))) 62 #define IK2PI ((IkReal)6.28318530717959) 63 #define IKPI ((IkReal)3.14159265358979) 64 #define IKPI_2 ((IkReal)1.57079632679490) 74 void dgetrf_ (
const int* m,
const int* n,
double* a,
const int* lda,
int* ipiv,
int* info);
75 void zgetrf_ (
const int* m,
const int* n, std::complex<double>* a,
const int* lda,
int* ipiv,
int* info);
76 void dgetri_(
const int* n,
const double* a,
const int* lda,
int* ipiv,
double* work,
const int* lwork,
int* info);
77 void dgesv_ (
const int* n,
const int* nrhs,
double* a,
const int* lda,
int* ipiv,
double* b,
const int* ldb,
int* info);
78 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);
79 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);
84 #ifdef IKFAST_NAMESPACE 85 namespace IKFAST_NAMESPACE {
88 inline float IKabs(
float f) {
return fabsf(f); }
89 inline double IKabs(
double f) {
return fabs(f); }
91 inline float IKsqr(
float f) {
return f*f; }
92 inline double IKsqr(
double f) {
return f*f; }
94 inline float IKlog(
float f) {
return logf(f); }
95 inline double IKlog(
double f) {
return log(f); }
98 #ifndef IKFAST_SINCOS_THRESH 99 #define IKFAST_SINCOS_THRESH ((IkReal)0.000001) 103 #ifndef IKFAST_ATAN2_MAGTHRESH 104 #define IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6) 108 #ifndef IKFAST_SOLUTION_THRESH 109 #define IKFAST_SOLUTION_THRESH ((IkReal)1e-6) 115 if( f <= -1 )
return float(-
IKPI_2);
116 else if( f >= 1 )
return float(
IKPI_2);
122 if( f <= -1 )
return -
IKPI_2;
123 else if( f >= 1 )
return IKPI_2;
148 if( f <= -1 )
return float(
IKPI);
149 else if( f >= 1 )
return float(0);
155 if( f <= -1 )
return IKPI;
156 else if( f >= 1 )
return 0;
159 inline float IKsin(
float f) {
return sinf(f); }
161 inline float IKcos(
float f) {
return cosf(f); }
163 inline float IKtan(
float f) {
return tanf(f); }
165 inline float IKsqrt(
float f) {
if( f <= 0.0f )
return 0.0f;
return sqrtf(f); }
166 inline double IKsqrt(
double f) {
if( f <= 0.0 )
return 0.0;
return sqrt(f); }
172 else if( isnan(fx) ) {
175 return atan2f(fy,fx);
182 else if( isnan(fx) ) {
210 IKFAST_API
void ComputeFk(
const IkReal* j, IkReal* eetrans, IkReal* eerot) {
211 IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25,x26,x27,x28,x29,x30,x31,x32,x33,x34,x35,x36,x37,x38,x39,x40,x41,x42,x43,x44;
224 x12=((IkReal(0.0800000000000000))*(x0));
225 x13=((IkReal(0.0800000000000000))*(x7));
226 x14=((IkReal(1.00000000000000))*(x7));
227 x15=((IkReal(0.290000000000000))*(x0));
228 x16=((IkReal(0.0750000000000000))*(x7));
229 x17=((IkReal(0.0800000000000000))*(x6));
230 x18=((IkReal(0.0750000000000000))*(x0));
231 x19=((IkReal(1.00000000000000))*(x0));
232 x20=((IkReal(1.00000000000000))*(x5));
233 x21=((IkReal(0.250000000000000))*(x2));
234 x22=((IkReal(0.290000000000000))*(x7));
240 x28=((IkReal(1.00000000000000))*(x26));
245 x33=((((IkReal(-1.00000000000000))*(x29)))+(((x0)*(x26))));
246 x34=((((IkReal(-1.00000000000000))*(x30)))+(((x26)*(x7))));
247 x35=((x29)+(((IkReal(-1.00000000000000))*(x19)*(x26))));
248 x36=((x30)+(((IkReal(-1.00000000000000))*(x14)*(x26))));
252 x40=((((IkReal(-1.00000000000000))*(x14)*(x5)))+(x37));
253 x41=((x38)+(((x0)*(x5))));
254 x42=((((x10)*(((x28)+(((IkReal(-1.00000000000000))*(x24)))))))+(((x11)*(x32))));
255 IkReal x45=((IkReal(1.00000000000000))*(x19));
256 x43=((((x10)*(((((IkReal(-1.00000000000000))*(x23)*(x45)))+(((IkReal(-1.00000000000000))*(x25)*(x45)))))))+(((x11)*(x40))));
257 IkReal x46=((IkReal(1.00000000000000))*(x14));
258 x44=((((x10)*(((((IkReal(-1.00000000000000))*(x23)*(x46)))+(((IkReal(-1.00000000000000))*(x25)*(x46)))))))+(((x11)*(x41))));
259 eerot[0]=((((x43)*(x8)))+(((x9)*(((((x35)*(x5)))+(((IkReal(-1.00000000000000))*(x27))))))));
260 eerot[1]=((((x43)*(x9)))+(((x8)*(((((IkReal(-1.00000000000000))*(x20)*(x35)))+(x27))))));
261 eerot[2]=((((x10)*(x40)))+(((x11)*(((((x0)*(x25)))+(((x0)*(x23))))))));
262 eetrans[0]=((((x18)*(x26)))+(((x0)*(x21)))+(((x15)*(x23)))+(((IkReal(0.150000000000000))*(x0)))+(((x15)*(x25)))+(((x11)*(((((x12)*(x25)))+(((x12)*(x23)))))))+(((IkReal(-1.00000000000000))*(x18)*(x24)))+(((x10)*(((((x17)*(x33)))+(((IkReal(-1.00000000000000))*(x13)*(x5))))))));
263 eerot[3]=((((x44)*(x8)))+(((x9)*(((x39)+(((x0)*(x6))))))));
264 eerot[4]=((((x8)*(((((IkReal(-1.00000000000000))*(x19)*(x6)))+(((IkReal(-1.00000000000000))*(x20)*(x36)))))))+(((x44)*(x9))));
265 eerot[5]=((((x10)*(x41)))+(((x11)*(((((x25)*(x7)))+(((x23)*(x7))))))));
266 eetrans[1]=((((IkReal(0.150000000000000))*(x7)))+(((x21)*(x7)))+(((x22)*(x25)))+(((IkReal(-1.00000000000000))*(x16)*(x24)))+(((x22)*(x23)))+(((x11)*(((((x13)*(x23)))+(((x13)*(x25)))))))+(((x10)*(((((x12)*(x5)))+(((x17)*(x34)))))))+(((x16)*(x26))));
267 eerot[6]=((((x5)*(x9)*(((((IkReal(-1.00000000000000))*(x23)))+(((IkReal(-1.00000000000000))*(x25)))))))+(((x42)*(x8))));
268 eerot[7]=((((x42)*(x9)))+(((x31)*(x5)*(x8))));
269 eerot[8]=((((x10)*(x32)))+(((x11)*(((((IkReal(-1.00000000000000))*(x28)))+(x24))))));
270 eetrans[2]=((IkReal(0.350000000000000))+(((x10)*(x6)*(((((IkReal(0.0800000000000000))*(x23)))+(((IkReal(0.0800000000000000))*(x25)))))))+(((IkReal(0.250000000000000))*(x3)))+(((IkReal(0.290000000000000))*(x24)))+(((IkReal(-0.290000000000000))*(x26)))+(((x11)*(((((IkReal(-0.0800000000000000))*(x26)))+(((IkReal(0.0800000000000000))*(x24)))))))+(((IkReal(0.0750000000000000))*(x25)))+(((IkReal(0.0750000000000000))*(x23))));
283 IkReal j0,cj0,sj0,htj0,j1,cj1,sj1,htj1,j2,cj2,sj2,htj2,j3,cj3,sj3,htj3,j4,cj4,sj4,htj4,j5,cj5,sj5,htj5,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_r10,r10,rxp1_0,new_r11,r11,rxp1_1,new_r12,r12,rxp1_2,new_r20,r20,rxp2_0,new_r21,r21,rxp2_1,new_r22,r22,rxp2_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp;
284 unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4,_ij5[2], _nj5;
287 j0=numeric_limits<IkReal>::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits<IkReal>::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits<IkReal>::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits<IkReal>::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits<IkReal>::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; j5=numeric_limits<IkReal>::quiet_NaN(); _ij5[0] = -1; _ij5[1] = -1; _nj5 = -1;
288 for(
int dummyiter = 0; dummyiter < 1; ++dummyiter) {
299 px = eetrans[0]; py = eetrans[1]; pz = eetrans[2];
302 new_r01=((IkReal(-1.00000000000000))*(r01));
303 new_r02=((IkReal(-1.00000000000000))*(r02));
304 new_px=((px)+(((IkReal(-0.0800000000000000))*(r02))));
306 new_r11=((IkReal(-1.00000000000000))*(r11));
307 new_r12=((IkReal(-1.00000000000000))*(r12));
308 new_py=((((IkReal(-0.0800000000000000))*(r12)))+(py));
310 new_r21=((IkReal(-1.00000000000000))*(r21));
311 new_r22=((IkReal(-1.00000000000000))*(r22));
312 new_pz=((IkReal(-0.350000000000000))+(((IkReal(-0.0800000000000000))*(r22)))+(pz));
313 r00 = new_r00; r01 = new_r01; r02 = new_r02; r10 = new_r10; r11 = new_r11; r12 = new_r12; r20 = new_r20; r21 = new_r21; r22 = new_r22; px = new_px; py = new_py; pz = new_pz;
314 pp=(((px)*(px))+((pz)*(pz))+((py)*(py)));
315 npx=((((py)*(r10)))+(((pz)*(r20)))+(((px)*(r00))));
316 npy=((((px)*(r01)))+(((pz)*(r21)))+(((py)*(r11))));
317 npz=((((py)*(r12)))+(((pz)*(r22)))+(((px)*(r02))));
318 rxp0_0=((((IkReal(-1.00000000000000))*(py)*(r20)))+(((pz)*(r10))));
319 rxp0_1=((((px)*(r20)))+(((IkReal(-1.00000000000000))*(pz)*(r00))));
320 rxp0_2=((((py)*(r00)))+(((IkReal(-1.00000000000000))*(px)*(r10))));
321 rxp1_0=((((pz)*(r11)))+(((IkReal(-1.00000000000000))*(py)*(r21))));
322 rxp1_1=((((IkReal(-1.00000000000000))*(pz)*(r01)))+(((px)*(r21))));
323 rxp1_2=((((py)*(r01)))+(((IkReal(-1.00000000000000))*(px)*(r11))));
324 rxp2_0=((((IkReal(-1.00000000000000))*(py)*(r22)))+(((pz)*(r12))));
325 rxp2_1=((((px)*(r22)))+(((IkReal(-1.00000000000000))*(pz)*(r02))));
326 rxp2_2=((((py)*(r02)))+(((IkReal(-1.00000000000000))*(px)*(r12))));
328 IkReal j0array[2], cj0array[2], sj0array[2];
329 bool j0valid[2]={
false};
333 IkReal x47=
IKatan2(py, ((IkReal(-1.00000000000000))*(px)));
334 j0array[0]=((IkReal(-1.00000000000000))*(x47));
335 sj0array[0]=
IKsin(j0array[0]);
336 cj0array[0]=
IKcos(j0array[0]);
337 j0array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x47))));
338 sj0array[1]=
IKsin(j0array[1]);
339 cj0array[1]=
IKcos(j0array[1]);
340 if( j0array[0] >
IKPI )
344 else if( j0array[0] < -
IKPI )
348 if( j0array[1] >
IKPI )
352 else if( j0array[1] < -
IKPI )
356 for(
int ij0 = 0; ij0 < 2; ++ij0)
362 _ij0[0] = ij0; _ij0[1] = -1;
363 for(
int iij0 = ij0+1; iij0 < 2; ++iij0)
367 j0valid[iij0]=
false; _ij0[1] = iij0;
break;
370 j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
373 IkReal j2array[2], cj2array[2], sj2array[2];
374 bool j2valid[2]={
false};
376 if( (((IkReal(0.866157642129758))+(((IkReal(2.00306257574814))*(cj0)*(px)))+(((IkReal(-6.67687525249380))*(pp)))+(((IkReal(2.00306257574814))*(py)*(sj0))))) < -1-
IKFAST_SINCOS_THRESH || (((IkReal(0.866157642129758))+(((IkReal(2.00306257574814))*(cj0)*(px)))+(((IkReal(-6.67687525249380))*(pp)))+(((IkReal(2.00306257574814))*(py)*(sj0))))) > 1+
IKFAST_SINCOS_THRESH )
378 IkReal x48=
IKasin(((IkReal(0.866157642129758))+(((IkReal(2.00306257574814))*(cj0)*(px)))+(((IkReal(-6.67687525249380))*(pp)))+(((IkReal(2.00306257574814))*(py)*(sj0)))));
379 j2array[0]=((IkReal(-0.253075652164602))+(((IkReal(-1.00000000000000))*(x48))));
380 sj2array[0]=
IKsin(j2array[0]);
381 cj2array[0]=
IKcos(j2array[0]);
382 j2array[1]=((IkReal(2.88851700142519))+(x48));
383 sj2array[1]=
IKsin(j2array[1]);
384 cj2array[1]=
IKcos(j2array[1]);
385 if( j2array[0] >
IKPI )
389 else if( j2array[0] < -
IKPI )
393 if( j2array[1] >
IKPI )
397 else if( j2array[1] < -
IKPI )
401 for(
int ij2 = 0; ij2 < 2; ++ij2)
407 _ij2[0] = ij2; _ij2[1] = -1;
408 for(
int iij2 = ij2+1; iij2 < 2; ++iij2)
412 j2valid[iij2]=
false; _ij2[1] = iij2;
break;
415 j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2];
420 IkReal x49=((IkReal(0.290000000000000))*(cj2));
421 IkReal x50=((py)*(sj0));
422 IkReal x51=((cj0)*(px));
423 IkReal x52=((IkReal(0.0750000000000000))*(sj2));
424 gconst0=
IKsign(((((IkReal(-0.0112500000000000))*(sj2)))+(((IkReal(0.290000000000000))*(pz)*(sj2)))+(((IkReal(0.0750000000000000))*(cj2)*(pz)))+(((IkReal(-1.00000000000000))*(x49)*(x51)))+(((IkReal(0.250000000000000))*(pz)))+(((IkReal(0.0435000000000000))*(cj2)))+(((IkReal(-1.00000000000000))*(x49)*(x50)))+(((x51)*(x52)))+(((x50)*(x52)))));
425 IkReal x53=((cj0)*(px));
426 IkReal x54=((IkReal(25.7777777777778))*(cj2));
427 IkReal x55=((IkReal(6.66666666666667))*(sj2));
428 IkReal x56=((py)*(sj0));
429 dummyeval[0]=((((IkReal(-1.00000000000000))*(x54)*(x56)))+(((IkReal(-1.00000000000000))*(sj2)))+(((IkReal(6.66666666666667))*(cj2)*(pz)))+(((IkReal(3.86666666666667))*(cj2)))+(((IkReal(25.7777777777778))*(pz)*(sj2)))+(((IkReal(22.2222222222222))*(pz)))+(((IkReal(-1.00000000000000))*(x53)*(x54)))+(((x53)*(x55)))+(((x55)*(x56))));
430 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
435 IkReal x57=((py)*(sj0));
436 IkReal x58=((cj0)*(px));
437 IkReal x59=((IkReal(0.290000000000000))*(sj2));
438 IkReal x60=((IkReal(0.0750000000000000))*(cj2));
439 gconst1=
IKsign(((IkReal(0.0375000000000000))+(((IkReal(-1.00000000000000))*(x57)*(x60)))+(((IkReal(-0.250000000000000))*(x58)))+(((IkReal(-0.250000000000000))*(x57)))+(((IkReal(-1.00000000000000))*(x58)*(x60)))+(((IkReal(0.0435000000000000))*(sj2)))+(((IkReal(0.0750000000000000))*(pz)*(sj2)))+(((IkReal(-0.290000000000000))*(cj2)*(pz)))+(((IkReal(0.0112500000000000))*(cj2)))+(((IkReal(-1.00000000000000))*(x57)*(x59)))+(((IkReal(-1.00000000000000))*(x58)*(x59)))));
440 IkReal x61=((cj0)*(px));
441 IkReal x62=((IkReal(6.66666666666667))*(cj2));
442 IkReal x63=((py)*(sj0));
443 IkReal x64=((IkReal(25.7777777777778))*(sj2));
444 dummyeval[0]=((IkReal(3.33333333333333))+(((IkReal(-22.2222222222222))*(x63)))+(((IkReal(-1.00000000000000))*(x62)*(x63)))+(((IkReal(3.86666666666667))*(sj2)))+(((IkReal(-22.2222222222222))*(x61)))+(((IkReal(-1.00000000000000))*(x63)*(x64)))+(((IkReal(-1.00000000000000))*(x61)*(x62)))+(cj2)+(((IkReal(-25.7777777777778))*(cj2)*(pz)))+(((IkReal(6.66666666666667))*(pz)*(sj2)))+(((IkReal(-1.00000000000000))*(x61)*(x64))));
445 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
452 IkReal j1array[1], cj1array[1], sj1array[1];
453 bool j1valid[1]={
false};
455 IkReal x65=(sj2)*(sj2);
456 IkReal x66=(cj2)*(cj2);
457 IkReal x67=((cj2)*(sj2));
458 IkReal x68=((IkReal(1.00000000000000))*(pz));
459 if(
IKabs(((gconst1)*(((IkReal(-0.0625000000000000))+(((IkReal(-0.0435000000000000))*(x67)))+(((IkReal(-0.0375000000000000))*(cj2)))+(((IkReal(-0.0841000000000000))*(x65)))+((pz)*(pz))+(((IkReal(-0.145000000000000))*(sj2)))+(((IkReal(-0.00562500000000000))*(x66))))))) <
IKFAST_ATAN2_MAGTHRESH &&
IKabs(((gconst1)*(((((IkReal(0.0217500000000000))*(x65)))+(((IkReal(0.150000000000000))*(pz)))+(((IkReal(0.0187500000000000))*(sj2)))+(((IkReal(-0.0725000000000000))*(cj2)))+(((IkReal(-1.00000000000000))*(py)*(sj0)*(x68)))+(((IkReal(-0.0784750000000000))*(x67)))+(((IkReal(-0.0217500000000000))*(x66)))+(((IkReal(-1.00000000000000))*(cj0)*(px)*(x68))))))) <
IKFAST_ATAN2_MAGTHRESH )
461 j1array[0]=
IKatan2(((gconst1)*(((IkReal(-0.0625000000000000))+(((IkReal(-0.0435000000000000))*(x67)))+(((IkReal(-0.0375000000000000))*(cj2)))+(((IkReal(-0.0841000000000000))*(x65)))+((pz)*(pz))+(((IkReal(-0.145000000000000))*(sj2)))+(((IkReal(-0.00562500000000000))*(x66)))))), ((gconst1)*(((((IkReal(0.0217500000000000))*(x65)))+(((IkReal(0.150000000000000))*(pz)))+(((IkReal(0.0187500000000000))*(sj2)))+(((IkReal(-0.0725000000000000))*(cj2)))+(((IkReal(-1.00000000000000))*(py)*(sj0)*(x68)))+(((IkReal(-0.0784750000000000))*(x67)))+(((IkReal(-0.0217500000000000))*(x66)))+(((IkReal(-1.00000000000000))*(cj0)*(px)*(x68)))))));
462 sj1array[0]=
IKsin(j1array[0]);
463 cj1array[0]=
IKcos(j1array[0]);
464 if( j1array[0] >
IKPI )
468 else if( j1array[0] < -
IKPI )
472 for(
int ij1 = 0; ij1 < 1; ++ij1)
478 _ij1[0] = ij1; _ij1[1] = -1;
479 for(
int iij1 = ij1+1; iij1 < 1; ++iij1)
483 j1valid[iij1]=
false; _ij1[1] = iij1;
break;
486 j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
489 IkReal x69=
IKcos(j1);
490 IkReal x70=
IKsin(j1);
491 IkReal x71=((IkReal(0.0750000000000000))*(sj2));
492 IkReal x72=((IkReal(0.290000000000000))*(sj2));
493 IkReal x73=((py)*(sj0));
494 IkReal x74=((IkReal(0.290000000000000))*(cj2));
495 IkReal x75=((cj0)*(px));
496 IkReal x76=((IkReal(0.0750000000000000))*(cj2));
497 IkReal x77=((cj2)*(x70));
498 IkReal x78=((IkReal(1.00000000000000))*(x75));
499 IkReal x79=((IkReal(1.00000000000000))*(x69));
500 IkReal x80=((IkReal(0.500000000000000))*(x70));
501 evalcond[0]=((((IkReal(-1.00000000000000))*(x69)*(x78)))+(((IkReal(-1.00000000000000))*(x73)*(x79)))+(x74)+(((IkReal(0.150000000000000))*(x69)))+(((IkReal(-1.00000000000000))*(x71)))+(((pz)*(x70))));
502 evalcond[1]=((((IkReal(-1.00000000000000))*(x69)*(x72)))+(((IkReal(-1.00000000000000))*(x70)*(x71)))+(pz)+(((IkReal(-1.00000000000000))*(x69)*(x76)))+(((IkReal(-0.250000000000000))*(x69)))+(((x70)*(x74))));
503 evalcond[2]=((IkReal(0.250000000000000))+(((IkReal(0.150000000000000))*(x70)))+(x76)+(x72)+(((IkReal(-1.00000000000000))*(pz)*(x79)))+(((IkReal(-1.00000000000000))*(x70)*(x78)))+(((IkReal(-1.00000000000000))*(x70)*(x73))));
504 evalcond[3]=((IkReal(0.00472500000000000))+(((x75)*(x80)))+(((IkReal(-0.0750000000000000))*(x70)))+(((IkReal(-1.00000000000000))*(pp)))+(((x73)*(x80)))+(((IkReal(0.300000000000000))*(x73)))+(((IkReal(0.500000000000000))*(pz)*(x69)))+(((IkReal(0.300000000000000))*(x75))));
505 evalcond[4]=((IkReal(0.150000000000000))+(((x70)*(x72)))+(((x69)*(x74)))+(((x70)*(x76)))+(((IkReal(-1.00000000000000))*(x69)*(x71)))+(((IkReal(-1.00000000000000))*(x73)))+(((IkReal(-1.00000000000000))*(x78)))+(((IkReal(0.250000000000000))*(x70))));
506 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 )
512 rotationfunction0(solutions);
523 IkReal j1array[1], cj1array[1], sj1array[1];
524 bool j1valid[1]={
false};
526 IkReal x222=(sj2)*(sj2);
527 IkReal x223=(cj2)*(cj2);
528 IkReal x224=((cj2)*(sj2));
529 if(
IKabs(((gconst0)*(((((IkReal(0.0217500000000000))*(x222)))+(((IkReal(0.0187500000000000))*(sj2)))+(((IkReal(-0.0725000000000000))*(cj2)))+(((IkReal(-0.0217500000000000))*(x223)))+(((cj0)*(px)*(pz)))+(((IkReal(-0.150000000000000))*(pz)))+(((IkReal(-0.0784750000000000))*(x224)))+(((py)*(pz)*(sj0))))))) <
IKFAST_ATAN2_MAGTHRESH &&
IKabs(((gconst0)*(((((IkReal(-0.00562500000000000))*(x222)))+((pz)*(pz))+(((IkReal(-0.0841000000000000))*(x223)))+(((IkReal(0.0435000000000000))*(x224))))))) <
IKFAST_ATAN2_MAGTHRESH )
531 j1array[0]=
IKatan2(((gconst0)*(((((IkReal(0.0217500000000000))*(x222)))+(((IkReal(0.0187500000000000))*(sj2)))+(((IkReal(-0.0725000000000000))*(cj2)))+(((IkReal(-0.0217500000000000))*(x223)))+(((cj0)*(px)*(pz)))+(((IkReal(-0.150000000000000))*(pz)))+(((IkReal(-0.0784750000000000))*(x224)))+(((py)*(pz)*(sj0)))))), ((gconst0)*(((((IkReal(-0.00562500000000000))*(x222)))+((pz)*(pz))+(((IkReal(-0.0841000000000000))*(x223)))+(((IkReal(0.0435000000000000))*(x224)))))));
532 sj1array[0]=
IKsin(j1array[0]);
533 cj1array[0]=
IKcos(j1array[0]);
534 if( j1array[0] >
IKPI )
538 else if( j1array[0] < -
IKPI )
542 for(
int ij1 = 0; ij1 < 1; ++ij1)
548 _ij1[0] = ij1; _ij1[1] = -1;
549 for(
int iij1 = ij1+1; iij1 < 1; ++iij1)
553 j1valid[iij1]=
false; _ij1[1] = iij1;
break;
556 j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
559 IkReal x225=
IKcos(j1);
560 IkReal x226=
IKsin(j1);
561 IkReal x227=((IkReal(0.0750000000000000))*(sj2));
562 IkReal x228=((IkReal(0.290000000000000))*(sj2));
563 IkReal x229=((py)*(sj0));
564 IkReal x230=((IkReal(0.290000000000000))*(cj2));
565 IkReal x231=((cj0)*(px));
566 IkReal x232=((IkReal(0.0750000000000000))*(cj2));
567 IkReal x233=((cj2)*(x226));
568 IkReal x234=((IkReal(1.00000000000000))*(x231));
569 IkReal x235=((IkReal(1.00000000000000))*(x225));
570 IkReal x236=((IkReal(0.500000000000000))*(x226));
571 evalcond[0]=((((pz)*(x226)))+(x230)+(((IkReal(-1.00000000000000))*(x227)))+(((IkReal(-1.00000000000000))*(x229)*(x235)))+(((IkReal(0.150000000000000))*(x225)))+(((IkReal(-1.00000000000000))*(x225)*(x234))));
572 evalcond[1]=((((IkReal(-1.00000000000000))*(x225)*(x228)))+(((IkReal(-1.00000000000000))*(x225)*(x232)))+(((IkReal(-0.250000000000000))*(x225)))+(pz)+(((IkReal(-1.00000000000000))*(x226)*(x227)))+(((x226)*(x230))));
573 evalcond[2]=((IkReal(0.250000000000000))+(((IkReal(0.150000000000000))*(x226)))+(((IkReal(-1.00000000000000))*(pz)*(x235)))+(x232)+(((IkReal(-1.00000000000000))*(x226)*(x234)))+(x228)+(((IkReal(-1.00000000000000))*(x226)*(x229))));
574 evalcond[3]=((IkReal(0.00472500000000000))+(((IkReal(-0.0750000000000000))*(x226)))+(((IkReal(0.300000000000000))*(x231)))+(((IkReal(0.300000000000000))*(x229)))+(((IkReal(0.500000000000000))*(pz)*(x225)))+(((IkReal(-1.00000000000000))*(pp)))+(((x231)*(x236)))+(((x229)*(x236))));
575 evalcond[4]=((IkReal(0.150000000000000))+(((IkReal(0.250000000000000))*(x226)))+(((x225)*(x230)))+(((IkReal(-1.00000000000000))*(x225)*(x227)))+(((IkReal(-1.00000000000000))*(x229)))+(((x226)*(x228)))+(((IkReal(-1.00000000000000))*(x234)))+(((x226)*(x232))));
576 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 )
582 rotationfunction0(solutions);
597 for(
int rotationiter = 0; rotationiter < 1; ++rotationiter) {
598 IkReal x81=((r11)*(sj0));
599 IkReal x82=((cj0)*(r02));
600 IkReal x83=((sj1)*(sj2));
601 IkReal x84=((r10)*(sj0));
602 IkReal x85=((IkReal(1.00000000000000))*(cj1));
603 IkReal x86=((IkReal(1.00000000000000))*(sj0));
604 IkReal x87=((cj0)*(r00));
605 IkReal x88=((r12)*(sj0));
606 IkReal x89=((cj0)*(r01));
607 IkReal x90=((((IkReal(-1.00000000000000))*(sj2)*(x85)))+(((cj2)*(sj1))));
608 IkReal x91=((((cj1)*(cj2)))+(x83));
609 IkReal x92=((sj0)*(x90));
610 IkReal x93=((cj0)*(x90));
611 IkReal x94=((((IkReal(-1.00000000000000))*(x83)))+(((IkReal(-1.00000000000000))*(cj2)*(x85))));
612 new_r00=((((r20)*(x91)))+(((x84)*(x90)))+(((x87)*(x90))));
613 new_r01=((((r21)*(x91)))+(((x81)*(x90)))+(((x89)*(x90))));
614 new_r02=((((r22)*(x91)))+(((x82)*(x90)))+(((x88)*(x90))));
615 new_r10=((((cj0)*(r10)))+(((IkReal(-1.00000000000000))*(r00)*(x86))));
616 new_r11=((((IkReal(-1.00000000000000))*(r01)*(x86)))+(((cj0)*(r11))));
617 new_r12=((((IkReal(-1.00000000000000))*(r02)*(x86)))+(((cj0)*(r12))));
618 new_r20=((((x84)*(x94)))+(((r20)*(x90)))+(((x87)*(x94))));
619 new_r21=((((x81)*(x94)))+(((x89)*(x94)))+(((r21)*(x90))));
620 new_r22=((((r22)*(x90)))+(((x82)*(x94)))+(((x88)*(x94))));
622 IkReal j4array[2], cj4array[2], sj4array[2];
623 bool j4valid[2]={
false};
628 j4valid[0] = j4valid[1] =
true;
629 j4array[0] =
IKacos(cj4array[0]);
630 sj4array[0] =
IKsin(j4array[0]);
631 cj4array[1] = cj4array[0];
632 j4array[1] = -j4array[0];
633 sj4array[1] = -sj4array[0];
635 else if( isnan(cj4array[0]) )
639 cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
641 for(
int ij4 = 0; ij4 < 2; ++ij4)
647 _ij4[0] = ij4; _ij4[1] = -1;
648 for(
int iij4 = ij4+1; iij4 < 2; ++iij4)
652 j4valid[iij4]=
false; _ij4[1] = iij4;
break;
655 j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
662 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
667 gconst2=
IKsign(((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12))))));
668 dummyeval[0]=((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12)))));
669 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
674 gconst3=
IKsign(((((cj4)*((new_r02)*(new_r02))))+(((cj4)*((new_r12)*(new_r12))))));
675 dummyeval[0]=((((cj4)*((new_r02)*(new_r02))))+(((cj4)*((new_r12)*(new_r12)))));
676 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
680 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(1.57079632679490))+(j4)), IkReal(6.28318530717959))));
683 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 )
686 IkReal j5array[1], cj5array[1], sj5array[1];
687 bool j5valid[1]={
false};
691 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(new_r21)), new_r20);
692 sj5array[0]=
IKsin(j5array[0]);
693 cj5array[0]=
IKcos(j5array[0]);
694 if( j5array[0] >
IKPI )
698 else if( j5array[0] < -
IKPI )
702 for(
int ij5 = 0; ij5 < 1; ++ij5)
708 _ij5[0] = ij5; _ij5[1] = -1;
709 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
713 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
716 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
719 evalcond[0]=((new_r21)+(
IKsin(j5)));
720 evalcond[1]=((((IkReal(-1.00000000000000))*(
IKcos(j5))))+(new_r20));
721 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
730 gconst10=
IKsign(((((IkReal(-1.00000000000000))*(new_r01)*(new_r12)))+(((new_r02)*(new_r11)))));
731 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r01)*(new_r12)))+(((new_r02)*(new_r11))));
732 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
737 gconst11=
IKsign(((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10)))));
738 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10))));
739 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
746 IkReal j3array[1], cj3array[1], sj3array[1];
747 bool j3valid[1]={
false};
751 j3array[0]=
IKatan2(((gconst11)*(new_r00)), ((IkReal(-1.00000000000000))*(gconst11)*(new_r10)));
752 sj3array[0]=
IKsin(j3array[0]);
753 cj3array[0]=
IKcos(j3array[0]);
754 if( j3array[0] >
IKPI )
758 else if( j3array[0] < -
IKPI )
762 for(
int ij3 = 0; ij3 < 1; ++ij3)
768 _ij3[0] = ij3; _ij3[1] = -1;
769 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
773 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
776 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
779 IkReal x95=
IKsin(j3);
780 IkReal x96=
IKcos(j3);
781 IkReal x97=((IkReal(1.00000000000000))*(x96));
782 evalcond[0]=((((new_r12)*(x96)))+(((IkReal(-1.00000000000000))*(new_r02)*(x95))));
783 evalcond[1]=((IkReal(1.00000000000000))+(((new_r02)*(x96)))+(((new_r12)*(x95))));
784 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x97)))+(sj5)+(((new_r00)*(x95))));
785 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x97)))+(cj5)+(((new_r01)*(x95))));
786 evalcond[4]=((((new_r01)*(x96)))+(((new_r11)*(x95))));
787 evalcond[5]=((((new_r10)*(x95)))+(((new_r00)*(x96))));
788 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
795 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
796 vinfos[0].jointtype = 1;
797 vinfos[0].foffset = j0;
798 vinfos[0].indices[0] = _ij0[0];
799 vinfos[0].indices[1] = _ij0[1];
800 vinfos[0].maxsolutions = _nj0;
801 vinfos[1].jointtype = 1;
802 vinfos[1].foffset = j1;
803 vinfos[1].indices[0] = _ij1[0];
804 vinfos[1].indices[1] = _ij1[1];
805 vinfos[1].maxsolutions = _nj1;
806 vinfos[2].jointtype = 1;
807 vinfos[2].foffset = j2;
808 vinfos[2].indices[0] = _ij2[0];
809 vinfos[2].indices[1] = _ij2[1];
810 vinfos[2].maxsolutions = _nj2;
811 vinfos[3].jointtype = 1;
812 vinfos[3].foffset = j3;
813 vinfos[3].indices[0] = _ij3[0];
814 vinfos[3].indices[1] = _ij3[1];
815 vinfos[3].maxsolutions = _nj3;
816 vinfos[4].jointtype = 1;
817 vinfos[4].foffset = j4;
818 vinfos[4].indices[0] = _ij4[0];
819 vinfos[4].indices[1] = _ij4[1];
820 vinfos[4].maxsolutions = _nj4;
821 vinfos[5].jointtype = 1;
822 vinfos[5].foffset = j5;
823 vinfos[5].indices[0] = _ij5[0];
824 vinfos[5].indices[1] = _ij5[1];
825 vinfos[5].maxsolutions = _nj5;
826 std::vector<int> vfree(0);
839 IkReal j3array[1], cj3array[1], sj3array[1];
840 bool j3valid[1]={
false};
844 j3array[0]=
IKatan2(((gconst10)*(new_r01)), ((IkReal(-1.00000000000000))*(gconst10)*(new_r11)));
845 sj3array[0]=
IKsin(j3array[0]);
846 cj3array[0]=
IKcos(j3array[0]);
847 if( j3array[0] >
IKPI )
851 else if( j3array[0] < -
IKPI )
855 for(
int ij3 = 0; ij3 < 1; ++ij3)
861 _ij3[0] = ij3; _ij3[1] = -1;
862 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
866 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
869 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
872 IkReal x98=
IKsin(j3);
873 IkReal x99=
IKcos(j3);
874 IkReal x100=((IkReal(1.00000000000000))*(x99));
875 evalcond[0]=((((new_r12)*(x99)))+(((IkReal(-1.00000000000000))*(new_r02)*(x98))));
876 evalcond[1]=((IkReal(1.00000000000000))+(((new_r12)*(x98)))+(((new_r02)*(x99))));
877 evalcond[2]=((sj5)+(((new_r00)*(x98)))+(((IkReal(-1.00000000000000))*(new_r10)*(x100))));
878 evalcond[3]=((cj5)+(((new_r01)*(x98)))+(((IkReal(-1.00000000000000))*(new_r11)*(x100))));
879 evalcond[4]=((((new_r11)*(x98)))+(((new_r01)*(x99))));
880 evalcond[5]=((((new_r00)*(x99)))+(((new_r10)*(x98))));
881 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
888 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
889 vinfos[0].jointtype = 1;
890 vinfos[0].foffset = j0;
891 vinfos[0].indices[0] = _ij0[0];
892 vinfos[0].indices[1] = _ij0[1];
893 vinfos[0].maxsolutions = _nj0;
894 vinfos[1].jointtype = 1;
895 vinfos[1].foffset = j1;
896 vinfos[1].indices[0] = _ij1[0];
897 vinfos[1].indices[1] = _ij1[1];
898 vinfos[1].maxsolutions = _nj1;
899 vinfos[2].jointtype = 1;
900 vinfos[2].foffset = j2;
901 vinfos[2].indices[0] = _ij2[0];
902 vinfos[2].indices[1] = _ij2[1];
903 vinfos[2].maxsolutions = _nj2;
904 vinfos[3].jointtype = 1;
905 vinfos[3].foffset = j3;
906 vinfos[3].indices[0] = _ij3[0];
907 vinfos[3].indices[1] = _ij3[1];
908 vinfos[3].maxsolutions = _nj3;
909 vinfos[4].jointtype = 1;
910 vinfos[4].foffset = j4;
911 vinfos[4].indices[0] = _ij4[0];
912 vinfos[4].indices[1] = _ij4[1];
913 vinfos[4].maxsolutions = _nj4;
914 vinfos[5].jointtype = 1;
915 vinfos[5].foffset = j5;
916 vinfos[5].indices[0] = _ij5[0];
917 vinfos[5].indices[1] = _ij5[1];
918 vinfos[5].maxsolutions = _nj5;
919 std::vector<int> vfree(0);
933 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(4.71238898038469))+(j4)), IkReal(6.28318530717959))));
935 evalcond[2]=((IkReal(-1.00000000000000))*(new_r22));
936 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 )
939 IkReal j5array[1], cj5array[1], sj5array[1];
940 bool j5valid[1]={
false};
944 j5array[0]=
IKatan2(new_r21, ((IkReal(-1.00000000000000))*(new_r20)));
945 sj5array[0]=
IKsin(j5array[0]);
946 cj5array[0]=
IKcos(j5array[0]);
947 if( j5array[0] >
IKPI )
951 else if( j5array[0] < -
IKPI )
955 for(
int ij5 = 0; ij5 < 1; ++ij5)
961 _ij5[0] = ij5; _ij5[1] = -1;
962 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
966 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
969 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
972 evalcond[0]=((new_r21)+(((IkReal(-1.00000000000000))*(
IKsin(j5)))));
973 evalcond[1]=((
IKcos(j5))+(new_r20));
974 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
983 gconst14=
IKsign(((((IkReal(-1.00000000000000))*(new_r02)*(new_r11)))+(((new_r01)*(new_r12)))));
984 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r02)*(new_r11)))+(((new_r01)*(new_r12))));
985 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
990 gconst15=
IKsign(((((new_r00)*(new_r12)))+(((IkReal(-1.00000000000000))*(new_r02)*(new_r10)))));
991 dummyeval[0]=((((new_r00)*(new_r12)))+(((IkReal(-1.00000000000000))*(new_r02)*(new_r10))));
992 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
999 IkReal j3array[1], cj3array[1], sj3array[1];
1000 bool j3valid[1]={
false};
1004 j3array[0]=
IKatan2(((gconst15)*(new_r00)), ((IkReal(-1.00000000000000))*(gconst15)*(new_r10)));
1005 sj3array[0]=
IKsin(j3array[0]);
1006 cj3array[0]=
IKcos(j3array[0]);
1007 if( j3array[0] >
IKPI )
1011 else if( j3array[0] < -
IKPI )
1012 { j3array[0]+=
IK2PI;
1015 for(
int ij3 = 0; ij3 < 1; ++ij3)
1021 _ij3[0] = ij3; _ij3[1] = -1;
1022 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1026 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1029 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1032 IkReal x101=
IKsin(j3);
1033 IkReal x102=
IKcos(j3);
1034 IkReal x103=((IkReal(1.00000000000000))*(x102));
1035 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x101)))+(((new_r12)*(x102))));
1036 evalcond[1]=((IkReal(-1.00000000000000))+(((new_r02)*(x102)))+(((new_r12)*(x101))));
1037 evalcond[2]=((sj5)+(((new_r00)*(x101)))+(((IkReal(-1.00000000000000))*(new_r10)*(x103))));
1038 evalcond[3]=((((new_r01)*(x101)))+(((IkReal(-1.00000000000000))*(new_r11)*(x103)))+(cj5));
1039 evalcond[4]=((((new_r11)*(x101)))+(((new_r01)*(x102))));
1040 evalcond[5]=((((new_r00)*(x102)))+(((new_r10)*(x101))));
1041 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
1048 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1049 vinfos[0].jointtype = 1;
1050 vinfos[0].foffset = j0;
1051 vinfos[0].indices[0] = _ij0[0];
1052 vinfos[0].indices[1] = _ij0[1];
1053 vinfos[0].maxsolutions = _nj0;
1054 vinfos[1].jointtype = 1;
1055 vinfos[1].foffset = j1;
1056 vinfos[1].indices[0] = _ij1[0];
1057 vinfos[1].indices[1] = _ij1[1];
1058 vinfos[1].maxsolutions = _nj1;
1059 vinfos[2].jointtype = 1;
1060 vinfos[2].foffset = j2;
1061 vinfos[2].indices[0] = _ij2[0];
1062 vinfos[2].indices[1] = _ij2[1];
1063 vinfos[2].maxsolutions = _nj2;
1064 vinfos[3].jointtype = 1;
1065 vinfos[3].foffset = j3;
1066 vinfos[3].indices[0] = _ij3[0];
1067 vinfos[3].indices[1] = _ij3[1];
1068 vinfos[3].maxsolutions = _nj3;
1069 vinfos[4].jointtype = 1;
1070 vinfos[4].foffset = j4;
1071 vinfos[4].indices[0] = _ij4[0];
1072 vinfos[4].indices[1] = _ij4[1];
1073 vinfos[4].maxsolutions = _nj4;
1074 vinfos[5].jointtype = 1;
1075 vinfos[5].foffset = j5;
1076 vinfos[5].indices[0] = _ij5[0];
1077 vinfos[5].indices[1] = _ij5[1];
1078 vinfos[5].maxsolutions = _nj5;
1079 std::vector<int> vfree(0);
1092 IkReal j3array[1], cj3array[1], sj3array[1];
1093 bool j3valid[1]={
false};
1097 j3array[0]=
IKatan2(((gconst14)*(new_r01)), ((IkReal(-1.00000000000000))*(gconst14)*(new_r11)));
1098 sj3array[0]=
IKsin(j3array[0]);
1099 cj3array[0]=
IKcos(j3array[0]);
1100 if( j3array[0] >
IKPI )
1104 else if( j3array[0] < -
IKPI )
1105 { j3array[0]+=
IK2PI;
1108 for(
int ij3 = 0; ij3 < 1; ++ij3)
1114 _ij3[0] = ij3; _ij3[1] = -1;
1115 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1119 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1122 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1125 IkReal x104=
IKsin(j3);
1126 IkReal x105=
IKcos(j3);
1127 IkReal x106=((IkReal(1.00000000000000))*(x105));
1128 evalcond[0]=((((new_r12)*(x105)))+(((IkReal(-1.00000000000000))*(new_r02)*(x104))));
1129 evalcond[1]=((IkReal(-1.00000000000000))+(((new_r12)*(x104)))+(((new_r02)*(x105))));
1130 evalcond[2]=((sj5)+(((new_r00)*(x104)))+(((IkReal(-1.00000000000000))*(new_r10)*(x106))));
1131 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x106)))+(cj5)+(((new_r01)*(x104))));
1132 evalcond[4]=((((new_r01)*(x105)))+(((new_r11)*(x104))));
1133 evalcond[5]=((((new_r10)*(x104)))+(((new_r00)*(x105))));
1134 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
1141 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1142 vinfos[0].jointtype = 1;
1143 vinfos[0].foffset = j0;
1144 vinfos[0].indices[0] = _ij0[0];
1145 vinfos[0].indices[1] = _ij0[1];
1146 vinfos[0].maxsolutions = _nj0;
1147 vinfos[1].jointtype = 1;
1148 vinfos[1].foffset = j1;
1149 vinfos[1].indices[0] = _ij1[0];
1150 vinfos[1].indices[1] = _ij1[1];
1151 vinfos[1].maxsolutions = _nj1;
1152 vinfos[2].jointtype = 1;
1153 vinfos[2].foffset = j2;
1154 vinfos[2].indices[0] = _ij2[0];
1155 vinfos[2].indices[1] = _ij2[1];
1156 vinfos[2].maxsolutions = _nj2;
1157 vinfos[3].jointtype = 1;
1158 vinfos[3].foffset = j3;
1159 vinfos[3].indices[0] = _ij3[0];
1160 vinfos[3].indices[1] = _ij3[1];
1161 vinfos[3].maxsolutions = _nj3;
1162 vinfos[4].jointtype = 1;
1163 vinfos[4].foffset = j4;
1164 vinfos[4].indices[0] = _ij4[0];
1165 vinfos[4].indices[1] = _ij4[1];
1166 vinfos[4].maxsolutions = _nj4;
1167 vinfos[5].jointtype = 1;
1168 vinfos[5].foffset = j5;
1169 vinfos[5].indices[0] = _ij5[0];
1170 vinfos[5].indices[1] = _ij5[1];
1171 vinfos[5].maxsolutions = _nj5;
1172 std::vector<int> vfree(0);
1186 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
1187 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
1188 evalcond[2]=new_r21;
1189 evalcond[3]=new_r20;
1190 evalcond[4]=((IkReal(-1.00000000000000))*(new_r20));
1191 evalcond[5]=((IkReal(-1.00000000000000))*(new_r21));
1192 evalcond[6]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
1193 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 )
1196 IkReal j3array[2], cj3array[2], sj3array[2];
1197 bool j3valid[2]={
false};
1201 IkReal x107=
IKatan2(new_r02, new_r12);
1202 j3array[0]=((IkReal(-1.00000000000000))*(x107));
1203 sj3array[0]=
IKsin(j3array[0]);
1204 cj3array[0]=
IKcos(j3array[0]);
1205 j3array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x107))));
1206 sj3array[1]=
IKsin(j3array[1]);
1207 cj3array[1]=
IKcos(j3array[1]);
1208 if( j3array[0] >
IKPI )
1212 else if( j3array[0] < -
IKPI )
1213 { j3array[0]+=
IK2PI;
1216 if( j3array[1] >
IKPI )
1220 else if( j3array[1] < -
IKPI )
1221 { j3array[1]+=
IK2PI;
1224 for(
int ij3 = 0; ij3 < 2; ++ij3)
1230 _ij3[0] = ij3; _ij3[1] = -1;
1231 for(
int iij3 = ij3+1; iij3 < 2; ++iij3)
1235 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1238 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1241 evalcond[0]=((((new_r12)*(
IKcos(j3))))+(((IkReal(-1.00000000000000))*(new_r02)*(
IKsin(j3)))));
1242 if(
IKabs(evalcond[0]) > 0.000001 )
1249 IkReal j5array[1], cj5array[1], sj5array[1];
1250 bool j5valid[1]={
false};
1252 IkReal x108=((IkReal(1.00000000000000))*(sj3));
1255 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x108)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x108)))));
1256 sj5array[0]=
IKsin(j5array[0]);
1257 cj5array[0]=
IKcos(j5array[0]);
1258 if( j5array[0] >
IKPI )
1262 else if( j5array[0] < -
IKPI )
1263 { j5array[0]+=
IK2PI;
1266 for(
int ij5 = 0; ij5 < 1; ++ij5)
1272 _ij5[0] = ij5; _ij5[1] = -1;
1273 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1277 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1280 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1283 IkReal x109=
IKsin(j5);
1284 IkReal x110=
IKcos(j5);
1285 IkReal x111=((IkReal(1.00000000000000))*(cj3));
1286 evalcond[0]=((x109)+(((new_r00)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r10)*(x111))));
1287 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x111)))+(((new_r01)*(sj3)))+(x110));
1288 evalcond[2]=((((new_r11)*(sj3)))+(x109)+(((cj3)*(new_r01))));
1289 evalcond[3]=((((new_r10)*(sj3)))+(((cj3)*(new_r00)))+(((IkReal(-1.00000000000000))*(x110))));
1290 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1297 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1298 vinfos[0].jointtype = 1;
1299 vinfos[0].foffset = j0;
1300 vinfos[0].indices[0] = _ij0[0];
1301 vinfos[0].indices[1] = _ij0[1];
1302 vinfos[0].maxsolutions = _nj0;
1303 vinfos[1].jointtype = 1;
1304 vinfos[1].foffset = j1;
1305 vinfos[1].indices[0] = _ij1[0];
1306 vinfos[1].indices[1] = _ij1[1];
1307 vinfos[1].maxsolutions = _nj1;
1308 vinfos[2].jointtype = 1;
1309 vinfos[2].foffset = j2;
1310 vinfos[2].indices[0] = _ij2[0];
1311 vinfos[2].indices[1] = _ij2[1];
1312 vinfos[2].maxsolutions = _nj2;
1313 vinfos[3].jointtype = 1;
1314 vinfos[3].foffset = j3;
1315 vinfos[3].indices[0] = _ij3[0];
1316 vinfos[3].indices[1] = _ij3[1];
1317 vinfos[3].maxsolutions = _nj3;
1318 vinfos[4].jointtype = 1;
1319 vinfos[4].foffset = j4;
1320 vinfos[4].indices[0] = _ij4[0];
1321 vinfos[4].indices[1] = _ij4[1];
1322 vinfos[4].maxsolutions = _nj4;
1323 vinfos[5].jointtype = 1;
1324 vinfos[5].foffset = j5;
1325 vinfos[5].indices[0] = _ij5[0];
1326 vinfos[5].indices[1] = _ij5[1];
1327 vinfos[5].maxsolutions = _nj5;
1328 std::vector<int> vfree(0);
1338 IkReal x112=((IkReal(1.00000000000000))+(new_r22));
1339 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
1341 evalcond[2]=new_r21;
1342 evalcond[3]=new_r20;
1343 evalcond[4]=new_r20;
1344 evalcond[5]=new_r21;
1346 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 )
1349 IkReal j3array[2], cj3array[2], sj3array[2];
1350 bool j3valid[2]={
false};
1354 IkReal x113=
IKatan2(new_r02, new_r12);
1355 j3array[0]=((IkReal(-1.00000000000000))*(x113));
1356 sj3array[0]=
IKsin(j3array[0]);
1357 cj3array[0]=
IKcos(j3array[0]);
1358 j3array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x113))));
1359 sj3array[1]=
IKsin(j3array[1]);
1360 cj3array[1]=
IKcos(j3array[1]);
1361 if( j3array[0] >
IKPI )
1365 else if( j3array[0] < -
IKPI )
1366 { j3array[0]+=
IK2PI;
1369 if( j3array[1] >
IKPI )
1373 else if( j3array[1] < -
IKPI )
1374 { j3array[1]+=
IK2PI;
1377 for(
int ij3 = 0; ij3 < 2; ++ij3)
1383 _ij3[0] = ij3; _ij3[1] = -1;
1384 for(
int iij3 = ij3+1; iij3 < 2; ++iij3)
1388 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1391 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1394 evalcond[0]=((((new_r12)*(
IKcos(j3))))+(((IkReal(-1.00000000000000))*(new_r02)*(
IKsin(j3)))));
1395 if(
IKabs(evalcond[0]) > 0.000001 )
1402 IkReal j5array[1], cj5array[1], sj5array[1];
1403 bool j5valid[1]={
false};
1405 IkReal x114=((IkReal(1.00000000000000))*(sj3));
1408 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x114)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x114)))));
1409 sj5array[0]=
IKsin(j5array[0]);
1410 cj5array[0]=
IKcos(j5array[0]);
1411 if( j5array[0] >
IKPI )
1415 else if( j5array[0] < -
IKPI )
1416 { j5array[0]+=
IK2PI;
1419 for(
int ij5 = 0; ij5 < 1; ++ij5)
1425 _ij5[0] = ij5; _ij5[1] = -1;
1426 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1430 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1433 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1436 IkReal x115=
IKsin(j5);
1437 IkReal x116=
IKcos(j5);
1438 IkReal x117=((IkReal(1.00000000000000))*(cj3));
1439 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x117)))+(x115)+(((new_r00)*(sj3))));
1440 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x117)))+(((new_r01)*(sj3)))+(x116));
1441 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x115)))+(((cj3)*(new_r01))));
1442 evalcond[3]=((((new_r10)*(sj3)))+(x116)+(((cj3)*(new_r00))));
1443 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1450 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1451 vinfos[0].jointtype = 1;
1452 vinfos[0].foffset = j0;
1453 vinfos[0].indices[0] = _ij0[0];
1454 vinfos[0].indices[1] = _ij0[1];
1455 vinfos[0].maxsolutions = _nj0;
1456 vinfos[1].jointtype = 1;
1457 vinfos[1].foffset = j1;
1458 vinfos[1].indices[0] = _ij1[0];
1459 vinfos[1].indices[1] = _ij1[1];
1460 vinfos[1].maxsolutions = _nj1;
1461 vinfos[2].jointtype = 1;
1462 vinfos[2].foffset = j2;
1463 vinfos[2].indices[0] = _ij2[0];
1464 vinfos[2].indices[1] = _ij2[1];
1465 vinfos[2].maxsolutions = _nj2;
1466 vinfos[3].jointtype = 1;
1467 vinfos[3].foffset = j3;
1468 vinfos[3].indices[0] = _ij3[0];
1469 vinfos[3].indices[1] = _ij3[1];
1470 vinfos[3].maxsolutions = _nj3;
1471 vinfos[4].jointtype = 1;
1472 vinfos[4].foffset = j4;
1473 vinfos[4].indices[0] = _ij4[0];
1474 vinfos[4].indices[1] = _ij4[1];
1475 vinfos[4].maxsolutions = _nj4;
1476 vinfos[5].jointtype = 1;
1477 vinfos[5].foffset = j5;
1478 vinfos[5].indices[0] = _ij5[0];
1479 vinfos[5].indices[1] = _ij5[1];
1480 vinfos[5].maxsolutions = _nj5;
1481 std::vector<int> vfree(0);
1507 IkReal j3array[1], cj3array[1], sj3array[1];
1508 bool j3valid[1]={
false};
1510 IkReal x118=((IkReal(-1.00000000000000))*(gconst3)*(new_r22)*(sj4));
1513 j3array[0]=
IKatan2(((new_r12)*(x118)), ((new_r02)*(x118)));
1514 sj3array[0]=
IKsin(j3array[0]);
1515 cj3array[0]=
IKcos(j3array[0]);
1516 if( j3array[0] >
IKPI )
1520 else if( j3array[0] < -
IKPI )
1521 { j3array[0]+=
IK2PI;
1524 for(
int ij3 = 0; ij3 < 1; ++ij3)
1530 _ij3[0] = ij3; _ij3[1] = -1;
1531 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1535 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1538 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1541 IkReal x119=
IKsin(j3);
1542 IkReal x120=
IKcos(j3);
1543 IkReal x121=((IkReal(1.00000000000000))*(cj4));
1544 IkReal x122=((new_r02)*(x120));
1545 IkReal x123=((sj4)*(x119));
1546 IkReal x124=((sj4)*(x120));
1547 IkReal x125=((new_r12)*(x119));
1548 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x119)))+(((new_r12)*(x120))));
1549 evalcond[1]=((sj4)+(x125)+(x122));
1550 evalcond[2]=((((new_r22)*(sj4)))+(((cj4)*(x125)))+(((cj4)*(x122))));
1551 evalcond[3]=((((new_r00)*(x124)))+(((IkReal(-1.00000000000000))*(new_r20)*(x121)))+(((new_r10)*(x123))));
1552 evalcond[4]=((((new_r11)*(x123)))+(((IkReal(-1.00000000000000))*(new_r21)*(x121)))+(((new_r01)*(x124))));
1553 evalcond[5]=((IkReal(1.00000000000000))+(((sj4)*(x122)))+(((IkReal(-1.00000000000000))*(new_r22)*(x121)))+(((new_r12)*(x123))));
1554 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
1561 IkReal dummyeval[1];
1565 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1568 IkReal dummyeval[1];
1570 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1573 IkReal dummyeval[1];
1575 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1578 IkReal evalcond[11];
1579 IkReal x126=((cj3)*(new_r12));
1580 IkReal x127=((new_r02)*(sj3));
1581 IkReal x128=((((new_r12)*(sj3)))+(((cj3)*(new_r02))));
1582 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
1583 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
1584 evalcond[2]=new_r21;
1585 evalcond[3]=new_r20;
1586 evalcond[4]=((((IkReal(-1.00000000000000))*(x127)))+(x126));
1587 evalcond[5]=((((IkReal(-1.00000000000000))*(x126)))+(x127));
1590 evalcond[8]=((IkReal(-1.00000000000000))*(new_r20));
1591 evalcond[9]=((IkReal(-1.00000000000000))*(new_r21));
1592 evalcond[10]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
1593 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 &&
IKabs(evalcond[7]) < 0.0000010000000000 &&
IKabs(evalcond[8]) < 0.0000010000000000 &&
IKabs(evalcond[9]) < 0.0000010000000000 &&
IKabs(evalcond[10]) < 0.0000010000000000 )
1596 IkReal j5array[1], cj5array[1], sj5array[1];
1597 bool j5valid[1]={
false};
1599 IkReal x129=((IkReal(1.00000000000000))*(sj3));
1602 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x129)))+(((cj3)*(new_r10)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x129)))));
1603 sj5array[0]=
IKsin(j5array[0]);
1604 cj5array[0]=
IKcos(j5array[0]);
1605 if( j5array[0] >
IKPI )
1609 else if( j5array[0] < -
IKPI )
1610 { j5array[0]+=
IK2PI;
1613 for(
int ij5 = 0; ij5 < 1; ++ij5)
1619 _ij5[0] = ij5; _ij5[1] = -1;
1620 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1624 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1627 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1630 IkReal x130=
IKsin(j5);
1631 IkReal x131=
IKcos(j5);
1632 IkReal x132=((IkReal(1.00000000000000))*(cj3));
1633 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x132)))+(x130)+(((new_r00)*(sj3))));
1634 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x132)))+(((new_r01)*(sj3)))+(x131));
1635 evalcond[2]=((((new_r11)*(sj3)))+(x130)+(((cj3)*(new_r01))));
1636 evalcond[3]=((((new_r10)*(sj3)))+(((IkReal(-1.00000000000000))*(x131)))+(((cj3)*(new_r00))));
1637 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1644 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1645 vinfos[0].jointtype = 1;
1646 vinfos[0].foffset = j0;
1647 vinfos[0].indices[0] = _ij0[0];
1648 vinfos[0].indices[1] = _ij0[1];
1649 vinfos[0].maxsolutions = _nj0;
1650 vinfos[1].jointtype = 1;
1651 vinfos[1].foffset = j1;
1652 vinfos[1].indices[0] = _ij1[0];
1653 vinfos[1].indices[1] = _ij1[1];
1654 vinfos[1].maxsolutions = _nj1;
1655 vinfos[2].jointtype = 1;
1656 vinfos[2].foffset = j2;
1657 vinfos[2].indices[0] = _ij2[0];
1658 vinfos[2].indices[1] = _ij2[1];
1659 vinfos[2].maxsolutions = _nj2;
1660 vinfos[3].jointtype = 1;
1661 vinfos[3].foffset = j3;
1662 vinfos[3].indices[0] = _ij3[0];
1663 vinfos[3].indices[1] = _ij3[1];
1664 vinfos[3].maxsolutions = _nj3;
1665 vinfos[4].jointtype = 1;
1666 vinfos[4].foffset = j4;
1667 vinfos[4].indices[0] = _ij4[0];
1668 vinfos[4].indices[1] = _ij4[1];
1669 vinfos[4].maxsolutions = _nj4;
1670 vinfos[5].jointtype = 1;
1671 vinfos[5].foffset = j5;
1672 vinfos[5].indices[0] = _ij5[0];
1673 vinfos[5].indices[1] = _ij5[1];
1674 vinfos[5].maxsolutions = _nj5;
1675 std::vector<int> vfree(0);
1683 IkReal x133=((IkReal(1.00000000000000))+(new_r22));
1684 IkReal x134=((cj3)*(new_r12));
1685 IkReal x135=((new_r12)*(sj3));
1686 IkReal x136=((new_r02)*(sj3));
1687 IkReal x137=((cj3)*(new_r02));
1688 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
1690 evalcond[2]=new_r21;
1691 evalcond[3]=new_r20;
1692 evalcond[4]=((x134)+(((IkReal(-1.00000000000000))*(x136))));
1693 evalcond[5]=((((IkReal(-1.00000000000000))*(x134)))+(x136));
1694 evalcond[6]=((x135)+(x137));
1695 evalcond[7]=((((IkReal(-1.00000000000000))*(x135)))+(((IkReal(-1.00000000000000))*(x137))));
1696 evalcond[8]=new_r20;
1697 evalcond[9]=new_r21;
1699 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 &&
IKabs(evalcond[7]) < 0.0000010000000000 &&
IKabs(evalcond[8]) < 0.0000010000000000 &&
IKabs(evalcond[9]) < 0.0000010000000000 &&
IKabs(evalcond[10]) < 0.0000010000000000 )
1702 IkReal j5array[1], cj5array[1], sj5array[1];
1703 bool j5valid[1]={
false};
1705 IkReal x138=((IkReal(1.00000000000000))*(sj3));
1708 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x138)))+(((cj3)*(new_r10)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x138)))));
1709 sj5array[0]=
IKsin(j5array[0]);
1710 cj5array[0]=
IKcos(j5array[0]);
1711 if( j5array[0] >
IKPI )
1715 else if( j5array[0] < -
IKPI )
1716 { j5array[0]+=
IK2PI;
1719 for(
int ij5 = 0; ij5 < 1; ++ij5)
1725 _ij5[0] = ij5; _ij5[1] = -1;
1726 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1730 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1733 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1736 IkReal x139=
IKsin(j5);
1737 IkReal x140=
IKcos(j5);
1738 IkReal x141=((IkReal(1.00000000000000))*(cj3));
1739 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x141)))+(x139)+(((new_r00)*(sj3))));
1740 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x141)))+(((new_r01)*(sj3)))+(x140));
1741 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x139)))+(((cj3)*(new_r01))));
1742 evalcond[3]=((((new_r10)*(sj3)))+(x140)+(((cj3)*(new_r00))));
1743 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1750 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1751 vinfos[0].jointtype = 1;
1752 vinfos[0].foffset = j0;
1753 vinfos[0].indices[0] = _ij0[0];
1754 vinfos[0].indices[1] = _ij0[1];
1755 vinfos[0].maxsolutions = _nj0;
1756 vinfos[1].jointtype = 1;
1757 vinfos[1].foffset = j1;
1758 vinfos[1].indices[0] = _ij1[0];
1759 vinfos[1].indices[1] = _ij1[1];
1760 vinfos[1].maxsolutions = _nj1;
1761 vinfos[2].jointtype = 1;
1762 vinfos[2].foffset = j2;
1763 vinfos[2].indices[0] = _ij2[0];
1764 vinfos[2].indices[1] = _ij2[1];
1765 vinfos[2].maxsolutions = _nj2;
1766 vinfos[3].jointtype = 1;
1767 vinfos[3].foffset = j3;
1768 vinfos[3].indices[0] = _ij3[0];
1769 vinfos[3].indices[1] = _ij3[1];
1770 vinfos[3].maxsolutions = _nj3;
1771 vinfos[4].jointtype = 1;
1772 vinfos[4].foffset = j4;
1773 vinfos[4].indices[0] = _ij4[0];
1774 vinfos[4].indices[1] = _ij4[1];
1775 vinfos[4].maxsolutions = _nj4;
1776 vinfos[5].jointtype = 1;
1777 vinfos[5].foffset = j5;
1778 vinfos[5].indices[0] = _ij5[0];
1779 vinfos[5].indices[1] = _ij5[1];
1780 vinfos[5].maxsolutions = _nj5;
1781 std::vector<int> vfree(0);
1803 IkReal j5array[1], cj5array[1], sj5array[1];
1804 bool j5valid[1]={
false};
1808 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(new_r21)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))), ((((IkReal(-1.00000000000000))*(new_r01)*(sj3)))+(((cj3)*(new_r11)))));
1809 sj5array[0]=
IKsin(j5array[0]);
1810 cj5array[0]=
IKcos(j5array[0]);
1811 if( j5array[0] >
IKPI )
1815 else if( j5array[0] < -
IKPI )
1816 { j5array[0]+=
IK2PI;
1819 for(
int ij5 = 0; ij5 < 1; ++ij5)
1825 _ij5[0] = ij5; _ij5[1] = -1;
1826 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1830 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1833 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1836 IkReal x142=
IKsin(j5);
1837 IkReal x143=
IKcos(j5);
1838 IkReal x144=((IkReal(1.00000000000000))*(cj3));
1839 IkReal x145=((cj4)*(sj3));
1840 IkReal x146=((cj3)*(cj4));
1841 IkReal x147=((IkReal(1.00000000000000))*(x143));
1842 evalcond[0]=((((sj4)*(x142)))+(new_r21));
1843 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x147))));
1844 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x144)))+(x142)+(((new_r00)*(sj3))));
1845 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x144)))+(((new_r01)*(sj3)))+(x143));
1846 evalcond[4]=((((cj4)*(x142)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
1847 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x147)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
1848 evalcond[6]=((((new_r21)*(sj4)))+(((new_r11)*(x145)))+(((new_r01)*(x146)))+(x142));
1849 evalcond[7]=((((new_r10)*(x145)))+(((new_r20)*(sj4)))+(((new_r00)*(x146)))+(((IkReal(-1.00000000000000))*(x147))));
1850 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
1857 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1858 vinfos[0].jointtype = 1;
1859 vinfos[0].foffset = j0;
1860 vinfos[0].indices[0] = _ij0[0];
1861 vinfos[0].indices[1] = _ij0[1];
1862 vinfos[0].maxsolutions = _nj0;
1863 vinfos[1].jointtype = 1;
1864 vinfos[1].foffset = j1;
1865 vinfos[1].indices[0] = _ij1[0];
1866 vinfos[1].indices[1] = _ij1[1];
1867 vinfos[1].maxsolutions = _nj1;
1868 vinfos[2].jointtype = 1;
1869 vinfos[2].foffset = j2;
1870 vinfos[2].indices[0] = _ij2[0];
1871 vinfos[2].indices[1] = _ij2[1];
1872 vinfos[2].maxsolutions = _nj2;
1873 vinfos[3].jointtype = 1;
1874 vinfos[3].foffset = j3;
1875 vinfos[3].indices[0] = _ij3[0];
1876 vinfos[3].indices[1] = _ij3[1];
1877 vinfos[3].maxsolutions = _nj3;
1878 vinfos[4].jointtype = 1;
1879 vinfos[4].foffset = j4;
1880 vinfos[4].indices[0] = _ij4[0];
1881 vinfos[4].indices[1] = _ij4[1];
1882 vinfos[4].maxsolutions = _nj4;
1883 vinfos[5].jointtype = 1;
1884 vinfos[5].foffset = j5;
1885 vinfos[5].indices[0] = _ij5[0];
1886 vinfos[5].indices[1] = _ij5[1];
1887 vinfos[5].maxsolutions = _nj5;
1888 std::vector<int> vfree(0);
1901 IkReal j5array[1], cj5array[1], sj5array[1];
1902 bool j5valid[1]={
false};
1906 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(sj3)))+(((cj3)*(new_r10)))), ((new_r20)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))));
1907 sj5array[0]=
IKsin(j5array[0]);
1908 cj5array[0]=
IKcos(j5array[0]);
1909 if( j5array[0] >
IKPI )
1913 else if( j5array[0] < -
IKPI )
1914 { j5array[0]+=
IK2PI;
1917 for(
int ij5 = 0; ij5 < 1; ++ij5)
1923 _ij5[0] = ij5; _ij5[1] = -1;
1924 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1928 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1931 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1934 IkReal x148=
IKsin(j5);
1935 IkReal x149=
IKcos(j5);
1936 IkReal x150=((IkReal(1.00000000000000))*(cj3));
1937 IkReal x151=((cj4)*(sj3));
1938 IkReal x152=((cj3)*(cj4));
1939 IkReal x153=((IkReal(1.00000000000000))*(x149));
1940 evalcond[0]=((((sj4)*(x148)))+(new_r21));
1941 evalcond[1]=((((IkReal(-1.00000000000000))*(sj4)*(x153)))+(new_r20));
1942 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x150)))+(x148)+(((new_r00)*(sj3))));
1943 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x150)))+(((new_r01)*(sj3)))+(x149));
1944 evalcond[4]=((((new_r11)*(sj3)))+(((cj4)*(x148)))+(((cj3)*(new_r01))));
1945 evalcond[5]=((((new_r10)*(sj3)))+(((IkReal(-1.00000000000000))*(cj4)*(x153)))+(((cj3)*(new_r00))));
1946 evalcond[6]=((((new_r21)*(sj4)))+(((new_r01)*(x152)))+(((new_r11)*(x151)))+(x148));
1947 evalcond[7]=((((new_r10)*(x151)))+(((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(x153)))+(((new_r00)*(x152))));
1948 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
1955 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1956 vinfos[0].jointtype = 1;
1957 vinfos[0].foffset = j0;
1958 vinfos[0].indices[0] = _ij0[0];
1959 vinfos[0].indices[1] = _ij0[1];
1960 vinfos[0].maxsolutions = _nj0;
1961 vinfos[1].jointtype = 1;
1962 vinfos[1].foffset = j1;
1963 vinfos[1].indices[0] = _ij1[0];
1964 vinfos[1].indices[1] = _ij1[1];
1965 vinfos[1].maxsolutions = _nj1;
1966 vinfos[2].jointtype = 1;
1967 vinfos[2].foffset = j2;
1968 vinfos[2].indices[0] = _ij2[0];
1969 vinfos[2].indices[1] = _ij2[1];
1970 vinfos[2].maxsolutions = _nj2;
1971 vinfos[3].jointtype = 1;
1972 vinfos[3].foffset = j3;
1973 vinfos[3].indices[0] = _ij3[0];
1974 vinfos[3].indices[1] = _ij3[1];
1975 vinfos[3].maxsolutions = _nj3;
1976 vinfos[4].jointtype = 1;
1977 vinfos[4].foffset = j4;
1978 vinfos[4].indices[0] = _ij4[0];
1979 vinfos[4].indices[1] = _ij4[1];
1980 vinfos[4].maxsolutions = _nj4;
1981 vinfos[5].jointtype = 1;
1982 vinfos[5].foffset = j5;
1983 vinfos[5].indices[0] = _ij5[0];
1984 vinfos[5].indices[1] = _ij5[1];
1985 vinfos[5].maxsolutions = _nj5;
1986 std::vector<int> vfree(0);
1999 IkReal j5array[1], cj5array[1], sj5array[1];
2000 bool j5valid[1]={
false};
2004 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst5)*(new_r21)), ((gconst5)*(new_r20)));
2005 sj5array[0]=
IKsin(j5array[0]);
2006 cj5array[0]=
IKcos(j5array[0]);
2007 if( j5array[0] >
IKPI )
2011 else if( j5array[0] < -
IKPI )
2012 { j5array[0]+=
IK2PI;
2015 for(
int ij5 = 0; ij5 < 1; ++ij5)
2021 _ij5[0] = ij5; _ij5[1] = -1;
2022 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2026 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2029 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2032 IkReal x154=
IKsin(j5);
2033 IkReal x155=
IKcos(j5);
2034 IkReal x156=((IkReal(1.00000000000000))*(cj3));
2035 IkReal x157=((cj4)*(sj3));
2036 IkReal x158=((cj3)*(cj4));
2037 IkReal x159=((IkReal(1.00000000000000))*(x155));
2038 evalcond[0]=((((sj4)*(x154)))+(new_r21));
2039 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x159))));
2040 evalcond[2]=((x154)+(((IkReal(-1.00000000000000))*(new_r10)*(x156)))+(((new_r00)*(sj3))));
2041 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x156)))+(x155)+(((new_r01)*(sj3))));
2042 evalcond[4]=((((new_r11)*(sj3)))+(((cj4)*(x154)))+(((cj3)*(new_r01))));
2043 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x159)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2044 evalcond[6]=((((new_r21)*(sj4)))+(x154)+(((new_r11)*(x157)))+(((new_r01)*(x158))));
2045 evalcond[7]=((((new_r20)*(sj4)))+(((new_r00)*(x158)))+(((IkReal(-1.00000000000000))*(x159)))+(((new_r10)*(x157))));
2046 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
2053 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2054 vinfos[0].jointtype = 1;
2055 vinfos[0].foffset = j0;
2056 vinfos[0].indices[0] = _ij0[0];
2057 vinfos[0].indices[1] = _ij0[1];
2058 vinfos[0].maxsolutions = _nj0;
2059 vinfos[1].jointtype = 1;
2060 vinfos[1].foffset = j1;
2061 vinfos[1].indices[0] = _ij1[0];
2062 vinfos[1].indices[1] = _ij1[1];
2063 vinfos[1].maxsolutions = _nj1;
2064 vinfos[2].jointtype = 1;
2065 vinfos[2].foffset = j2;
2066 vinfos[2].indices[0] = _ij2[0];
2067 vinfos[2].indices[1] = _ij2[1];
2068 vinfos[2].maxsolutions = _nj2;
2069 vinfos[3].jointtype = 1;
2070 vinfos[3].foffset = j3;
2071 vinfos[3].indices[0] = _ij3[0];
2072 vinfos[3].indices[1] = _ij3[1];
2073 vinfos[3].maxsolutions = _nj3;
2074 vinfos[4].jointtype = 1;
2075 vinfos[4].foffset = j4;
2076 vinfos[4].indices[0] = _ij4[0];
2077 vinfos[4].indices[1] = _ij4[1];
2078 vinfos[4].maxsolutions = _nj4;
2079 vinfos[5].jointtype = 1;
2080 vinfos[5].foffset = j5;
2081 vinfos[5].indices[0] = _ij5[0];
2082 vinfos[5].indices[1] = _ij5[1];
2083 vinfos[5].maxsolutions = _nj5;
2084 std::vector<int> vfree(0);
2103 IkReal j3array[1], cj3array[1], sj3array[1];
2104 bool j3valid[1]={
false};
2106 IkReal x160=((gconst2)*(sj4));
2109 j3array[0]=
IKatan2(((new_r12)*(x160)), ((new_r02)*(x160)));
2110 sj3array[0]=
IKsin(j3array[0]);
2111 cj3array[0]=
IKcos(j3array[0]);
2112 if( j3array[0] >
IKPI )
2116 else if( j3array[0] < -
IKPI )
2117 { j3array[0]+=
IK2PI;
2120 for(
int ij3 = 0; ij3 < 1; ++ij3)
2126 _ij3[0] = ij3; _ij3[1] = -1;
2127 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2131 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2134 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2137 IkReal x161=
IKsin(j3);
2138 IkReal x162=
IKcos(j3);
2139 IkReal x163=((IkReal(1.00000000000000))*(cj4));
2140 IkReal x164=((new_r02)*(x162));
2141 IkReal x165=((sj4)*(x161));
2142 IkReal x166=((sj4)*(x162));
2143 IkReal x167=((new_r12)*(x161));
2144 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x161)))+(((new_r12)*(x162))));
2145 evalcond[1]=((sj4)+(x167)+(x164));
2146 evalcond[2]=((((new_r22)*(sj4)))+(((cj4)*(x164)))+(((cj4)*(x167))));
2147 evalcond[3]=((((new_r00)*(x166)))+(((IkReal(-1.00000000000000))*(new_r20)*(x163)))+(((new_r10)*(x165))));
2148 evalcond[4]=((((IkReal(-1.00000000000000))*(new_r21)*(x163)))+(((new_r01)*(x166)))+(((new_r11)*(x165))));
2149 evalcond[5]=((IkReal(1.00000000000000))+(((new_r12)*(x165)))+(((sj4)*(x164)))+(((IkReal(-1.00000000000000))*(new_r22)*(x163))));
2150 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 )
2157 IkReal dummyeval[1];
2161 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2164 IkReal dummyeval[1];
2166 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2169 IkReal dummyeval[1];
2171 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2174 IkReal evalcond[11];
2175 IkReal x168=((cj3)*(new_r12));
2176 IkReal x169=((new_r02)*(sj3));
2177 IkReal x170=((((new_r12)*(sj3)))+(((cj3)*(new_r02))));
2178 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
2179 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
2180 evalcond[2]=new_r21;
2181 evalcond[3]=new_r20;
2182 evalcond[4]=((x168)+(((IkReal(-1.00000000000000))*(x169))));
2183 evalcond[5]=((((IkReal(-1.00000000000000))*(x168)))+(x169));
2186 evalcond[8]=((IkReal(-1.00000000000000))*(new_r20));
2187 evalcond[9]=((IkReal(-1.00000000000000))*(new_r21));
2188 evalcond[10]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
2189 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 &&
IKabs(evalcond[7]) < 0.0000010000000000 &&
IKabs(evalcond[8]) < 0.0000010000000000 &&
IKabs(evalcond[9]) < 0.0000010000000000 &&
IKabs(evalcond[10]) < 0.0000010000000000 )
2192 IkReal j5array[1], cj5array[1], sj5array[1];
2193 bool j5valid[1]={
false};
2195 IkReal x171=((IkReal(1.00000000000000))*(sj3));
2198 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x171)))), ((((IkReal(-1.00000000000000))*(new_r01)*(x171)))+(((cj3)*(new_r11)))));
2199 sj5array[0]=
IKsin(j5array[0]);
2200 cj5array[0]=
IKcos(j5array[0]);
2201 if( j5array[0] >
IKPI )
2205 else if( j5array[0] < -
IKPI )
2206 { j5array[0]+=
IK2PI;
2209 for(
int ij5 = 0; ij5 < 1; ++ij5)
2215 _ij5[0] = ij5; _ij5[1] = -1;
2216 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2220 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2223 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2226 IkReal x172=
IKsin(j5);
2227 IkReal x173=
IKcos(j5);
2228 IkReal x174=((IkReal(1.00000000000000))*(cj3));
2229 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x174)))+(x172)+(((new_r00)*(sj3))));
2230 evalcond[1]=((x173)+(((IkReal(-1.00000000000000))*(new_r11)*(x174)))+(((new_r01)*(sj3))));
2231 evalcond[2]=((x172)+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2232 evalcond[3]=((((IkReal(-1.00000000000000))*(x173)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2233 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
2240 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2241 vinfos[0].jointtype = 1;
2242 vinfos[0].foffset = j0;
2243 vinfos[0].indices[0] = _ij0[0];
2244 vinfos[0].indices[1] = _ij0[1];
2245 vinfos[0].maxsolutions = _nj0;
2246 vinfos[1].jointtype = 1;
2247 vinfos[1].foffset = j1;
2248 vinfos[1].indices[0] = _ij1[0];
2249 vinfos[1].indices[1] = _ij1[1];
2250 vinfos[1].maxsolutions = _nj1;
2251 vinfos[2].jointtype = 1;
2252 vinfos[2].foffset = j2;
2253 vinfos[2].indices[0] = _ij2[0];
2254 vinfos[2].indices[1] = _ij2[1];
2255 vinfos[2].maxsolutions = _nj2;
2256 vinfos[3].jointtype = 1;
2257 vinfos[3].foffset = j3;
2258 vinfos[3].indices[0] = _ij3[0];
2259 vinfos[3].indices[1] = _ij3[1];
2260 vinfos[3].maxsolutions = _nj3;
2261 vinfos[4].jointtype = 1;
2262 vinfos[4].foffset = j4;
2263 vinfos[4].indices[0] = _ij4[0];
2264 vinfos[4].indices[1] = _ij4[1];
2265 vinfos[4].maxsolutions = _nj4;
2266 vinfos[5].jointtype = 1;
2267 vinfos[5].foffset = j5;
2268 vinfos[5].indices[0] = _ij5[0];
2269 vinfos[5].indices[1] = _ij5[1];
2270 vinfos[5].maxsolutions = _nj5;
2271 std::vector<int> vfree(0);
2279 IkReal x175=((IkReal(1.00000000000000))+(new_r22));
2280 IkReal x176=((cj3)*(new_r12));
2281 IkReal x177=((new_r12)*(sj3));
2282 IkReal x178=((new_r02)*(sj3));
2283 IkReal x179=((cj3)*(new_r02));
2284 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
2286 evalcond[2]=new_r21;
2287 evalcond[3]=new_r20;
2288 evalcond[4]=((x176)+(((IkReal(-1.00000000000000))*(x178))));
2289 evalcond[5]=((x178)+(((IkReal(-1.00000000000000))*(x176))));
2290 evalcond[6]=((x179)+(x177));
2291 evalcond[7]=((((IkReal(-1.00000000000000))*(x179)))+(((IkReal(-1.00000000000000))*(x177))));
2292 evalcond[8]=new_r20;
2293 evalcond[9]=new_r21;
2295 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 &&
IKabs(evalcond[3]) < 0.0000010000000000 &&
IKabs(evalcond[4]) < 0.0000010000000000 &&
IKabs(evalcond[5]) < 0.0000010000000000 &&
IKabs(evalcond[6]) < 0.0000010000000000 &&
IKabs(evalcond[7]) < 0.0000010000000000 &&
IKabs(evalcond[8]) < 0.0000010000000000 &&
IKabs(evalcond[9]) < 0.0000010000000000 &&
IKabs(evalcond[10]) < 0.0000010000000000 )
2298 IkReal j5array[1], cj5array[1], sj5array[1];
2299 bool j5valid[1]={
false};
2301 IkReal x180=((IkReal(1.00000000000000))*(sj3));
2304 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x180)))+(((cj3)*(new_r10)))), ((((IkReal(-1.00000000000000))*(new_r01)*(x180)))+(((cj3)*(new_r11)))));
2305 sj5array[0]=
IKsin(j5array[0]);
2306 cj5array[0]=
IKcos(j5array[0]);
2307 if( j5array[0] >
IKPI )
2311 else if( j5array[0] < -
IKPI )
2312 { j5array[0]+=
IK2PI;
2315 for(
int ij5 = 0; ij5 < 1; ++ij5)
2321 _ij5[0] = ij5; _ij5[1] = -1;
2322 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2326 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2329 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2332 IkReal x181=
IKsin(j5);
2333 IkReal x182=
IKcos(j5);
2334 IkReal x183=((IkReal(1.00000000000000))*(cj3));
2335 evalcond[0]=((x181)+(((IkReal(-1.00000000000000))*(new_r10)*(x183)))+(((new_r00)*(sj3))));
2336 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x183)))+(x182)+(((new_r01)*(sj3))));
2337 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x181)))+(((cj3)*(new_r01))));
2338 evalcond[3]=((x182)+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2339 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
2346 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2347 vinfos[0].jointtype = 1;
2348 vinfos[0].foffset = j0;
2349 vinfos[0].indices[0] = _ij0[0];
2350 vinfos[0].indices[1] = _ij0[1];
2351 vinfos[0].maxsolutions = _nj0;
2352 vinfos[1].jointtype = 1;
2353 vinfos[1].foffset = j1;
2354 vinfos[1].indices[0] = _ij1[0];
2355 vinfos[1].indices[1] = _ij1[1];
2356 vinfos[1].maxsolutions = _nj1;
2357 vinfos[2].jointtype = 1;
2358 vinfos[2].foffset = j2;
2359 vinfos[2].indices[0] = _ij2[0];
2360 vinfos[2].indices[1] = _ij2[1];
2361 vinfos[2].maxsolutions = _nj2;
2362 vinfos[3].jointtype = 1;
2363 vinfos[3].foffset = j3;
2364 vinfos[3].indices[0] = _ij3[0];
2365 vinfos[3].indices[1] = _ij3[1];
2366 vinfos[3].maxsolutions = _nj3;
2367 vinfos[4].jointtype = 1;
2368 vinfos[4].foffset = j4;
2369 vinfos[4].indices[0] = _ij4[0];
2370 vinfos[4].indices[1] = _ij4[1];
2371 vinfos[4].maxsolutions = _nj4;
2372 vinfos[5].jointtype = 1;
2373 vinfos[5].foffset = j5;
2374 vinfos[5].indices[0] = _ij5[0];
2375 vinfos[5].indices[1] = _ij5[1];
2376 vinfos[5].maxsolutions = _nj5;
2377 std::vector<int> vfree(0);
2399 IkReal j5array[1], cj5array[1], sj5array[1];
2400 bool j5valid[1]={
false};
2404 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(new_r21)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))), ((((IkReal(-1.00000000000000))*(new_r01)*(sj3)))+(((cj3)*(new_r11)))));
2405 sj5array[0]=
IKsin(j5array[0]);
2406 cj5array[0]=
IKcos(j5array[0]);
2407 if( j5array[0] >
IKPI )
2411 else if( j5array[0] < -
IKPI )
2412 { j5array[0]+=
IK2PI;
2415 for(
int ij5 = 0; ij5 < 1; ++ij5)
2421 _ij5[0] = ij5; _ij5[1] = -1;
2422 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2426 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2429 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2432 IkReal x184=
IKsin(j5);
2433 IkReal x185=
IKcos(j5);
2434 IkReal x186=((IkReal(1.00000000000000))*(cj3));
2435 IkReal x187=((cj4)*(sj3));
2436 IkReal x188=((cj3)*(cj4));
2437 IkReal x189=((IkReal(1.00000000000000))*(x185));
2438 evalcond[0]=((new_r21)+(((sj4)*(x184))));
2439 evalcond[1]=((((IkReal(-1.00000000000000))*(sj4)*(x189)))+(new_r20));
2440 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x186)))+(x184)+(((new_r00)*(sj3))));
2441 evalcond[3]=((x185)+(((new_r01)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r11)*(x186))));
2442 evalcond[4]=((((cj4)*(x184)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2443 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x189)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2444 evalcond[6]=((((new_r11)*(x187)))+(((new_r21)*(sj4)))+(x184)+(((new_r01)*(x188))));
2445 evalcond[7]=((((IkReal(-1.00000000000000))*(x189)))+(((new_r20)*(sj4)))+(((new_r10)*(x187)))+(((new_r00)*(x188))));
2446 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
2453 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2454 vinfos[0].jointtype = 1;
2455 vinfos[0].foffset = j0;
2456 vinfos[0].indices[0] = _ij0[0];
2457 vinfos[0].indices[1] = _ij0[1];
2458 vinfos[0].maxsolutions = _nj0;
2459 vinfos[1].jointtype = 1;
2460 vinfos[1].foffset = j1;
2461 vinfos[1].indices[0] = _ij1[0];
2462 vinfos[1].indices[1] = _ij1[1];
2463 vinfos[1].maxsolutions = _nj1;
2464 vinfos[2].jointtype = 1;
2465 vinfos[2].foffset = j2;
2466 vinfos[2].indices[0] = _ij2[0];
2467 vinfos[2].indices[1] = _ij2[1];
2468 vinfos[2].maxsolutions = _nj2;
2469 vinfos[3].jointtype = 1;
2470 vinfos[3].foffset = j3;
2471 vinfos[3].indices[0] = _ij3[0];
2472 vinfos[3].indices[1] = _ij3[1];
2473 vinfos[3].maxsolutions = _nj3;
2474 vinfos[4].jointtype = 1;
2475 vinfos[4].foffset = j4;
2476 vinfos[4].indices[0] = _ij4[0];
2477 vinfos[4].indices[1] = _ij4[1];
2478 vinfos[4].maxsolutions = _nj4;
2479 vinfos[5].jointtype = 1;
2480 vinfos[5].foffset = j5;
2481 vinfos[5].indices[0] = _ij5[0];
2482 vinfos[5].indices[1] = _ij5[1];
2483 vinfos[5].maxsolutions = _nj5;
2484 std::vector<int> vfree(0);
2497 IkReal j5array[1], cj5array[1], sj5array[1];
2498 bool j5valid[1]={
false};
2502 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(sj3)))+(((cj3)*(new_r10)))), ((new_r20)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))));
2503 sj5array[0]=
IKsin(j5array[0]);
2504 cj5array[0]=
IKcos(j5array[0]);
2505 if( j5array[0] >
IKPI )
2509 else if( j5array[0] < -
IKPI )
2510 { j5array[0]+=
IK2PI;
2513 for(
int ij5 = 0; ij5 < 1; ++ij5)
2519 _ij5[0] = ij5; _ij5[1] = -1;
2520 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2524 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2527 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2530 IkReal x190=
IKsin(j5);
2531 IkReal x191=
IKcos(j5);
2532 IkReal x192=((IkReal(1.00000000000000))*(cj3));
2533 IkReal x193=((cj4)*(sj3));
2534 IkReal x194=((cj3)*(cj4));
2535 IkReal x195=((IkReal(1.00000000000000))*(x191));
2536 evalcond[0]=((new_r21)+(((sj4)*(x190))));
2537 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x195))));
2538 evalcond[2]=((x190)+(((IkReal(-1.00000000000000))*(new_r10)*(x192)))+(((new_r00)*(sj3))));
2539 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x192)))+(x191)+(((new_r01)*(sj3))));
2540 evalcond[4]=((((cj4)*(x190)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2541 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x195)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2542 evalcond[6]=((((new_r21)*(sj4)))+(x190)+(((new_r01)*(x194)))+(((new_r11)*(x193))));
2543 evalcond[7]=((((new_r00)*(x194)))+(((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(x195)))+(((new_r10)*(x193))));
2544 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
2551 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2552 vinfos[0].jointtype = 1;
2553 vinfos[0].foffset = j0;
2554 vinfos[0].indices[0] = _ij0[0];
2555 vinfos[0].indices[1] = _ij0[1];
2556 vinfos[0].maxsolutions = _nj0;
2557 vinfos[1].jointtype = 1;
2558 vinfos[1].foffset = j1;
2559 vinfos[1].indices[0] = _ij1[0];
2560 vinfos[1].indices[1] = _ij1[1];
2561 vinfos[1].maxsolutions = _nj1;
2562 vinfos[2].jointtype = 1;
2563 vinfos[2].foffset = j2;
2564 vinfos[2].indices[0] = _ij2[0];
2565 vinfos[2].indices[1] = _ij2[1];
2566 vinfos[2].maxsolutions = _nj2;
2567 vinfos[3].jointtype = 1;
2568 vinfos[3].foffset = j3;
2569 vinfos[3].indices[0] = _ij3[0];
2570 vinfos[3].indices[1] = _ij3[1];
2571 vinfos[3].maxsolutions = _nj3;
2572 vinfos[4].jointtype = 1;
2573 vinfos[4].foffset = j4;
2574 vinfos[4].indices[0] = _ij4[0];
2575 vinfos[4].indices[1] = _ij4[1];
2576 vinfos[4].maxsolutions = _nj4;
2577 vinfos[5].jointtype = 1;
2578 vinfos[5].foffset = j5;
2579 vinfos[5].indices[0] = _ij5[0];
2580 vinfos[5].indices[1] = _ij5[1];
2581 vinfos[5].maxsolutions = _nj5;
2582 std::vector<int> vfree(0);
2595 IkReal j5array[1], cj5array[1], sj5array[1];
2596 bool j5valid[1]={
false};
2600 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst5)*(new_r21)), ((gconst5)*(new_r20)));
2601 sj5array[0]=
IKsin(j5array[0]);
2602 cj5array[0]=
IKcos(j5array[0]);
2603 if( j5array[0] >
IKPI )
2607 else if( j5array[0] < -
IKPI )
2608 { j5array[0]+=
IK2PI;
2611 for(
int ij5 = 0; ij5 < 1; ++ij5)
2617 _ij5[0] = ij5; _ij5[1] = -1;
2618 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2622 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2625 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2628 IkReal x196=
IKsin(j5);
2629 IkReal x197=
IKcos(j5);
2630 IkReal x198=((IkReal(1.00000000000000))*(cj3));
2631 IkReal x199=((cj4)*(sj3));
2632 IkReal x200=((cj3)*(cj4));
2633 IkReal x201=((IkReal(1.00000000000000))*(x197));
2634 evalcond[0]=((new_r21)+(((sj4)*(x196))));
2635 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x201))));
2636 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x198)))+(x196)+(((new_r00)*(sj3))));
2637 evalcond[3]=((x197)+(((new_r01)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r11)*(x198))));
2638 evalcond[4]=((((cj4)*(x196)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2639 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x201)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2640 evalcond[6]=((((new_r21)*(sj4)))+(x196)+(((new_r11)*(x199)))+(((new_r01)*(x200))));
2641 evalcond[7]=((((new_r10)*(x199)))+(((new_r20)*(sj4)))+(((new_r00)*(x200)))+(((IkReal(-1.00000000000000))*(x201))));
2642 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 )
2649 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2650 vinfos[0].jointtype = 1;
2651 vinfos[0].foffset = j0;
2652 vinfos[0].indices[0] = _ij0[0];
2653 vinfos[0].indices[1] = _ij0[1];
2654 vinfos[0].maxsolutions = _nj0;
2655 vinfos[1].jointtype = 1;
2656 vinfos[1].foffset = j1;
2657 vinfos[1].indices[0] = _ij1[0];
2658 vinfos[1].indices[1] = _ij1[1];
2659 vinfos[1].maxsolutions = _nj1;
2660 vinfos[2].jointtype = 1;
2661 vinfos[2].foffset = j2;
2662 vinfos[2].indices[0] = _ij2[0];
2663 vinfos[2].indices[1] = _ij2[1];
2664 vinfos[2].maxsolutions = _nj2;
2665 vinfos[3].jointtype = 1;
2666 vinfos[3].foffset = j3;
2667 vinfos[3].indices[0] = _ij3[0];
2668 vinfos[3].indices[1] = _ij3[1];
2669 vinfos[3].maxsolutions = _nj3;
2670 vinfos[4].jointtype = 1;
2671 vinfos[4].foffset = j4;
2672 vinfos[4].indices[0] = _ij4[0];
2673 vinfos[4].indices[1] = _ij4[1];
2674 vinfos[4].maxsolutions = _nj4;
2675 vinfos[5].jointtype = 1;
2676 vinfos[5].foffset = j5;
2677 vinfos[5].indices[0] = _ij5[0];
2678 vinfos[5].indices[1] = _ij5[1];
2679 vinfos[5].maxsolutions = _nj5;
2680 std::vector<int> vfree(0);
2699 IkReal j5array[1], cj5array[1], sj5array[1];
2700 bool j5valid[1]={
false};
2704 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst4)*(new_r21)), ((gconst4)*(new_r20)));
2705 sj5array[0]=
IKsin(j5array[0]);
2706 cj5array[0]=
IKcos(j5array[0]);
2707 if( j5array[0] >
IKPI )
2711 else if( j5array[0] < -
IKPI )
2712 { j5array[0]+=
IK2PI;
2715 for(
int ij5 = 0; ij5 < 1; ++ij5)
2721 _ij5[0] = ij5; _ij5[1] = -1;
2722 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2726 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2729 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2732 evalcond[0]=((new_r21)+(((sj4)*(
IKsin(j5)))));
2733 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(
IKcos(j5)))));
2734 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
2741 IkReal dummyeval[1];
2743 gconst7=
IKsign(((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10)))));
2744 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10))));
2745 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2748 IkReal dummyeval[1];
2750 gconst6=
IKsign(((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12))))));
2751 dummyeval[0]=((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12)))));
2752 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2759 IkReal j3array[1], cj3array[1], sj3array[1];
2760 bool j3valid[1]={
false};
2762 IkReal x202=((gconst6)*(sj4));
2765 j3array[0]=
IKatan2(((new_r12)*(x202)), ((new_r02)*(x202)));
2766 sj3array[0]=
IKsin(j3array[0]);
2767 cj3array[0]=
IKcos(j3array[0]);
2768 if( j3array[0] >
IKPI )
2772 else if( j3array[0] < -
IKPI )
2773 { j3array[0]+=
IK2PI;
2776 for(
int ij3 = 0; ij3 < 1; ++ij3)
2782 _ij3[0] = ij3; _ij3[1] = -1;
2783 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2787 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2790 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2792 IkReal evalcond[12];
2793 IkReal x203=
IKsin(j3);
2794 IkReal x204=
IKcos(j3);
2795 IkReal x205=((IkReal(1.00000000000000))*(cj4));
2796 IkReal x206=((cj4)*(x204));
2797 IkReal x207=((IkReal(1.00000000000000))*(x204));
2798 IkReal x208=((sj4)*(x204));
2799 IkReal x209=((cj4)*(x203));
2800 IkReal x210=((new_r11)*(x203));
2801 IkReal x211=((sj4)*(x203));
2802 evalcond[0]=((((new_r12)*(x204)))+(((IkReal(-1.00000000000000))*(new_r02)*(x203))));
2803 evalcond[1]=((((new_r12)*(x203)))+(sj4)+(((new_r02)*(x204))));
2804 evalcond[2]=((((new_r00)*(x203)))+(sj5)+(((IkReal(-1.00000000000000))*(new_r10)*(x207))));
2805 evalcond[3]=((((new_r01)*(x203)))+(cj5)+(((IkReal(-1.00000000000000))*(new_r11)*(x207))));
2806 evalcond[4]=((x210)+(((new_r01)*(x204)))+(((cj4)*(sj5))));
2807 evalcond[5]=((((new_r00)*(x204)))+(((new_r10)*(x203)))+(((IkReal(-1.00000000000000))*(cj5)*(x205))));
2808 evalcond[6]=((((new_r22)*(sj4)))+(((new_r12)*(x209)))+(((new_r02)*(x206))));
2809 evalcond[7]=((((IkReal(-1.00000000000000))*(new_r20)*(x205)))+(((new_r10)*(x211)))+(((new_r00)*(x208))));
2810 evalcond[8]=((((new_r01)*(x208)))+(((sj4)*(x210)))+(((IkReal(-1.00000000000000))*(new_r21)*(x205))));
2811 evalcond[9]=((IkReal(1.00000000000000))+(((new_r12)*(x211)))+(((new_r02)*(x208)))+(((IkReal(-1.00000000000000))*(new_r22)*(x205))));
2812 evalcond[10]=((((new_r21)*(sj4)))+(sj5)+(((new_r01)*(x206)))+(((new_r11)*(x209))));
2813 evalcond[11]=((((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(cj5)))+(((new_r00)*(x206)))+(((new_r10)*(x209))));
2814 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 ||
IKabs(evalcond[8]) > 0.000001 ||
IKabs(evalcond[9]) > 0.000001 ||
IKabs(evalcond[10]) > 0.000001 ||
IKabs(evalcond[11]) > 0.000001 )
2821 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2822 vinfos[0].jointtype = 1;
2823 vinfos[0].foffset = j0;
2824 vinfos[0].indices[0] = _ij0[0];
2825 vinfos[0].indices[1] = _ij0[1];
2826 vinfos[0].maxsolutions = _nj0;
2827 vinfos[1].jointtype = 1;
2828 vinfos[1].foffset = j1;
2829 vinfos[1].indices[0] = _ij1[0];
2830 vinfos[1].indices[1] = _ij1[1];
2831 vinfos[1].maxsolutions = _nj1;
2832 vinfos[2].jointtype = 1;
2833 vinfos[2].foffset = j2;
2834 vinfos[2].indices[0] = _ij2[0];
2835 vinfos[2].indices[1] = _ij2[1];
2836 vinfos[2].maxsolutions = _nj2;
2837 vinfos[3].jointtype = 1;
2838 vinfos[3].foffset = j3;
2839 vinfos[3].indices[0] = _ij3[0];
2840 vinfos[3].indices[1] = _ij3[1];
2841 vinfos[3].maxsolutions = _nj3;
2842 vinfos[4].jointtype = 1;
2843 vinfos[4].foffset = j4;
2844 vinfos[4].indices[0] = _ij4[0];
2845 vinfos[4].indices[1] = _ij4[1];
2846 vinfos[4].maxsolutions = _nj4;
2847 vinfos[5].jointtype = 1;
2848 vinfos[5].foffset = j5;
2849 vinfos[5].indices[0] = _ij5[0];
2850 vinfos[5].indices[1] = _ij5[1];
2851 vinfos[5].maxsolutions = _nj5;
2852 std::vector<int> vfree(0);
2865 IkReal j3array[1], cj3array[1], sj3array[1];
2866 bool j3valid[1]={
false};
2868 IkReal x212=((gconst7)*(sj5));
2871 j3array[0]=
IKatan2(((new_r12)*(x212)), ((new_r02)*(x212)));
2872 sj3array[0]=
IKsin(j3array[0]);
2873 cj3array[0]=
IKcos(j3array[0]);
2874 if( j3array[0] >
IKPI )
2878 else if( j3array[0] < -
IKPI )
2879 { j3array[0]+=
IK2PI;
2882 for(
int ij3 = 0; ij3 < 1; ++ij3)
2888 _ij3[0] = ij3; _ij3[1] = -1;
2889 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2893 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2896 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2898 IkReal evalcond[12];
2899 IkReal x213=
IKsin(j3);
2900 IkReal x214=
IKcos(j3);
2901 IkReal x215=((IkReal(1.00000000000000))*(cj4));
2902 IkReal x216=((cj4)*(x214));
2903 IkReal x217=((IkReal(1.00000000000000))*(x214));
2904 IkReal x218=((sj4)*(x214));
2905 IkReal x219=((cj4)*(x213));
2906 IkReal x220=((new_r11)*(x213));
2907 IkReal x221=((sj4)*(x213));
2908 evalcond[0]=((((new_r12)*(x214)))+(((IkReal(-1.00000000000000))*(new_r02)*(x213))));
2909 evalcond[1]=((((new_r12)*(x213)))+(sj4)+(((new_r02)*(x214))));
2910 evalcond[2]=((sj5)+(((IkReal(-1.00000000000000))*(new_r10)*(x217)))+(((new_r00)*(x213))));
2911 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x217)))+(cj5)+(((new_r01)*(x213))));
2912 evalcond[4]=((((new_r01)*(x214)))+(x220)+(((cj4)*(sj5))));
2913 evalcond[5]=((((new_r00)*(x214)))+(((IkReal(-1.00000000000000))*(cj5)*(x215)))+(((new_r10)*(x213))));
2914 evalcond[6]=((((new_r22)*(sj4)))+(((new_r12)*(x219)))+(((new_r02)*(x216))));
2915 evalcond[7]=((((new_r10)*(x221)))+(((new_r00)*(x218)))+(((IkReal(-1.00000000000000))*(new_r20)*(x215))));
2916 evalcond[8]=((((IkReal(-1.00000000000000))*(new_r21)*(x215)))+(((new_r01)*(x218)))+(((sj4)*(x220))));
2917 evalcond[9]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22)*(x215)))+(((new_r02)*(x218)))+(((new_r12)*(x221))));
2918 evalcond[10]=((((new_r21)*(sj4)))+(((new_r11)*(x219)))+(sj5)+(((new_r01)*(x216))));
2919 evalcond[11]=((((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(cj5)))+(((new_r10)*(x219)))+(((new_r00)*(x216))));
2920 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 ||
IKabs(evalcond[4]) > 0.000001 ||
IKabs(evalcond[5]) > 0.000001 ||
IKabs(evalcond[6]) > 0.000001 ||
IKabs(evalcond[7]) > 0.000001 ||
IKabs(evalcond[8]) > 0.000001 ||
IKabs(evalcond[9]) > 0.000001 ||
IKabs(evalcond[10]) > 0.000001 ||
IKabs(evalcond[11]) > 0.000001 )
2927 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2928 vinfos[0].jointtype = 1;
2929 vinfos[0].foffset = j0;
2930 vinfos[0].indices[0] = _ij0[0];
2931 vinfos[0].indices[1] = _ij0[1];
2932 vinfos[0].maxsolutions = _nj0;
2933 vinfos[1].jointtype = 1;
2934 vinfos[1].foffset = j1;
2935 vinfos[1].indices[0] = _ij1[0];
2936 vinfos[1].indices[1] = _ij1[1];
2937 vinfos[1].maxsolutions = _nj1;
2938 vinfos[2].jointtype = 1;
2939 vinfos[2].foffset = j2;
2940 vinfos[2].indices[0] = _ij2[0];
2941 vinfos[2].indices[1] = _ij2[1];
2942 vinfos[2].maxsolutions = _nj2;
2943 vinfos[3].jointtype = 1;
2944 vinfos[3].foffset = j3;
2945 vinfos[3].indices[0] = _ij3[0];
2946 vinfos[3].indices[1] = _ij3[1];
2947 vinfos[3].maxsolutions = _nj3;
2948 vinfos[4].jointtype = 1;
2949 vinfos[4].foffset = j4;
2950 vinfos[4].indices[0] = _ij4[0];
2951 vinfos[4].indices[1] = _ij4[1];
2952 vinfos[4].maxsolutions = _nj4;
2953 vinfos[5].jointtype = 1;
2954 vinfos[5].foffset = j5;
2955 vinfos[5].indices[0] = _ij5[0];
2956 vinfos[5].indices[1] = _ij5[1];
2957 vinfos[5].maxsolutions = _nj5;
2958 std::vector<int> vfree(0);
2983 return solver.
ComputeIk(eetrans,eerot,pfree,solutions);
2986 IKFAST_API
const char*
GetKinematicsHash() {
return "<robot:genericrobot - fanuc_lrmate200ib (f2b29f852a3e7b1a67f7eb5f3d0d70f2)>"; }
2990 #ifdef IKFAST_NAMESPACE 2994 #ifndef IKFAST_NO_MAIN 2997 #ifdef IKFAST_NAMESPACE 2998 using namespace IKFAST_NAMESPACE;
3003 printf(
"\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n" 3004 "Returns the ik solutions given the transformation of the end effector specified by\n" 3005 "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n" 3012 IkReal eerot[9],eetrans[3];
3013 eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]);
3014 eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]);
3015 eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]);
3016 for(std::size_t i = 0; i < vfree.size(); ++i)
3017 vfree[i] = atof(argv[13+i]);
3018 bool bSuccess =
ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
3021 fprintf(stderr,
"Failed to get ik solution\n");
3029 printf(
"sol%d (free=%d): ", (
int)i, (
int)sol.
GetFree().size());
3030 std::vector<IkReal> vsolfree(sol.
GetFree().size());
3031 sol.
GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
3032 for( std::size_t j = 0; j < solvalues.size(); ++j)
3033 printf(
"%.15f, ", solvalues[j]);
virtual const IkSolutionBase< T > & GetSolution(size_t index) const
returns the solution pointer
void dgetri_(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
IKFAST_API void ComputeFk(const IkReal *j, IkReal *eetrans, IkReal *eerot)
#define IKFAST_ATAN2_MAGTHRESH
IKFAST_API const char * GetKinematicsHash()
IKFAST_API bool ComputeIk(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
#define IKFAST_STRINGIZE(s)
INLINE Rall1d< T, V, S > log(const Rall1d< T, V, S > &arg)
virtual size_t GetNumSolutions() const
returns the number of solutions stored
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)
int main(int argc, char **argv)
IKFAST_API int * GetFreeParameters()
void zgetrf_(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
The discrete solutions are returned in this structure.
IKFAST_API int GetIkType()
float IKatan2(float fy, float fx)
virtual const std::vector< int > & GetFree() const =0
Gets the indices of the configuration space that have to be preset before a full solution can be retu...
void rotationfunction0(IkSolutionListBase< IkReal > &solutions)
void dgesv_(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
virtual size_t AddSolution(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)=0
add one solution and return its index for later retrieval
#define IKFAST_SINCOS_THRESH
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 GetIkRealSize()
IKFAST_API int GetNumFreeParameters()
void dgetrf_(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
#define IKFAST_COMPILE_ASSERT(x)
INLINE Rall1d< T, V, S > asin(const Rall1d< T, V, S > &x)
virtual void Clear()=0
clears all current solutions, note that any memory addresses returned from GetSolution will be invali...
float IKfmod(float x, float y)
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
#define IKFAST_SOLUTION_THRESH
virtual void GetSolution(T *solution, const T *freevalues) const =0
gets a concrete solution
bool ComputeIk(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
INLINE Rall1d< T, V, S > acos(const Rall1d< T, V, S > &x)
#define IKFAST_VERSION
Header file for all ikfast c++ files/shared objects.
Default implementation of IkSolutionListBase.
INLINE Rall1d< T, V, S > atan2(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
INLINE Rall1d< T, V, S > cos(const Rall1d< T, V, S > &arg)
INLINE Rall1d< T, V, S > tan(const Rall1d< T, V, S > &arg)
IKFAST_API int GetNumJoints()
manages all the solutions
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)
virtual size_t GetNumSolutions() const =0
returns the number of solutions stored
IKFAST_API const char * GetIkFastVersion()