Classes
class	IKFastKinematicsPlugin

class	IKSolver

Enumerations
enum	IkParameterizationType { IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003, IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007, IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b, IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f, IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D\|IKP_VelocityDataBit, IKP_Rotation3DVelocity = IKP_Rotation3D\|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D\|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D\|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D\|IKP_VelocityDataBit, IKP_Lookat3DVelocity = IKP_Lookat3D\|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D\|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D\|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D\|IKP_VelocityDataBit, IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D\|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D\|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D\|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D\|IKP_VelocityDataBit, IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D\|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D\|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D\|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff, IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

Functions
IKFAST_API void	ComputeFk (const IkReal j, IkReal eetrans, IkReal *eerot)

IKFAST_API bool	ComputeIk (const IkReal eetrans, const IkReal eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)

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)

void	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)

void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)

void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)

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 *	GetFreeParameters ()

IKFAST_API const char *	GetIkFastVersion ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetIkType ()

IKFAST_API const char *	GetKinematicsHash ()

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int	GetNumJoints ()

float	IKabs (float f)

double	IKabs (double f)

float	IKacos (float f)

double	IKacos (double f)

float	IKasin (float f)

double	IKasin (double f)

float	IKatan2 (float fy, float fx)

double	IKatan2 (double fy, double fx)

float	IKcos (float f)

double	IKcos (double f)

	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)

float	IKfmod (float x, float y)

double	IKfmod (double x, double y)

float	IKlog (float f)

double	IKlog (double f)

float	IKsign (float f)

double	IKsign (double f)

float	IKsin (float f)

double	IKsin (double f)

float	IKsqr (float f)

double	IKsqr (double f)

float	IKsqrt (float f)

double	IKsqrt (double f)

float	IKtan (float f)

double	IKtan (double f)

void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Enumeration Type Documentation

enum ikfast_kinematics_plugin::IkParameterizationType

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

Enumerator
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXY2D	2D translation along XY plane
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.
IKP_TranslationXAxisAngleZNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngleXNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngleYNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations

Definition at line 66 of file fanuc_m16ib20_manipulator_ikfast_moveit_plugin.cpp.

Function Documentation

IKFAST_API void ikfast_kinematics_plugin::ComputeFk	(	const IkReal *	j,
		IkReal *	eetrans,
		IkReal *	eerot
	)

solves the forward kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 211 of file fanuc_m16ib20_manipulator_ikfast_moveit_plugin.cpp.

IKFAST_API bool ikfast_kinematics_plugin::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)

solves the inverse kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 2983 of file fanuc_m16ib20_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::dgeev_	(	const char *	jobvl,
		const char *	jobvr,
		const int *	n,
		double *	a,
		const int *	lda,
		double *	wr,
		double *	wi,
		double *	vl,
		const int *	ldvl,
		double *	vr,
		const int *	ldvr,
		double *	work,
		const int *	lwork,
		int *	info
	)

void ikfast_kinematics_plugin::dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

void ikfast_kinematics_plugin::dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

void ikfast_kinematics_plugin::dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

void ikfast_kinematics_plugin::dgetrs_	(	const char *	trans,
		const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)