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,x45,x46,x47;
224 x12=((IkReal(0.100000000000000))*(x4));
225 x13=((IkReal(0.100000000000000))*(x0));
226 x14=((IkReal(0.100000000000000))*(x6));
227 x15=((IkReal(0.250000000000000))*(x4));
228 x16=((IkReal(0.835000000000000))*(x4));
229 x17=((IkReal(1.00000000000000))*(x7));
230 x18=((IkReal(0.835000000000000))*(x7));
231 x19=((IkReal(1.00000000000000))*(x4));
232 x20=((IkReal(1.00000000000000))*(x5));
233 x21=((IkReal(1.00000000000000))*(x0));
234 x22=((IkReal(0.250000000000000))*(x1));
244 x32=((IkReal(1.00000000000000))*(x30));
246 x34=((x17)*(x3)*(x4));
249 x37=((((x1)*(x23)))+(((IkReal(-1.00000000000000))*(x33))));
250 x38=((((IkReal(-1.00000000000000))*(x34)))+(((x1)*(x29))));
251 x39=((((IkReal(-1.00000000000000))*(x21)*(x30)))+(x33));
252 x40=((x34)+(((IkReal(-1.00000000000000))*(x17)*(x30))));
255 x43=((x41)+(((IkReal(-1.00000000000000))*(x17)*(x5))));
256 x44=((((x38)*(x6)))+(((x0)*(x5))));
257 x45=((((x11)*(x36)))+(((x10)*(((x32)+(((IkReal(-1.00000000000000))*(x19)*(x3))))))));
258 x46=((((x10)*(((((IkReal(-1.00000000000000))*(x19)*(x23)))+(((IkReal(-1.00000000000000))*(x21)*(x24)))))))+(((x11)*(x43))));
259 IkReal x48=((IkReal(1.00000000000000))*(x17));
260 x47=((((x11)*(x44)))+(((x10)*(((((IkReal(-1.00000000000000))*(x27)*(x48)))+(((IkReal(-1.00000000000000))*(x24)*(x48))))))));
261 eerot[0]=((((x46)*(x8)))+(((x9)*(((((IkReal(-1.00000000000000))*(x31)))+(((x39)*(x5))))))));
262 eerot[1]=((((x46)*(x9)))+(((x8)*(((x31)+(((IkReal(-1.00000000000000))*(x20)*(x39))))))));
263 eerot[2]=((((x10)*(x43)))+(((x11)*(((((x23)*(x4)))+(((x0)*(x24))))))));
264 eetrans[0]=((((IkReal(0.790000000000000))*(x23)))+(((x10)*(((((IkReal(-0.100000000000000))*(x25)))+(((x14)*(x37)))))))+(((x22)*(x23)))+(((x16)*(x23)))+(((IkReal(0.150000000000000))*(x0)))+(((x11)*(((((x13)*(x24)))+(((x12)*(x23)))))))+(((IkReal(-1.00000000000000))*(x15)*(x26)))+(((IkReal(0.835000000000000))*(x0)*(x24))));
265 eerot[3]=((((x47)*(x8)))+(((x9)*(((x42)+(((x0)*(x6))))))));
266 eerot[4]=((((x47)*(x9)))+(((x8)*(((((IkReal(-1.00000000000000))*(x21)*(x6)))+(((IkReal(-1.00000000000000))*(x20)*(x40))))))));
267 eerot[5]=((((x11)*(((((x27)*(x7)))+(((x24)*(x7)))))))+(((x10)*(x44))));
268 eetrans[1]=((((IkReal(-1.00000000000000))*(x15)*(x28)))+(((IkReal(0.150000000000000))*(x7)))+(((x10)*(((((x13)*(x5)))+(((x14)*(x38)))))))+(((IkReal(0.790000000000000))*(x29)))+(((x11)*(((((IkReal(0.100000000000000))*(x24)*(x7)))+(((x12)*(x29)))))))+(((x16)*(x29)))+(((x22)*(x29)))+(((x18)*(x24))));
269 eerot[6]=((((x45)*(x8)))+(((x5)*(x9)*(((((IkReal(-1.00000000000000))*(x19)*(x2)))+(((IkReal(-1.00000000000000))*(x24))))))));
270 eerot[7]=((((x45)*(x9)))+(((x35)*(x5)*(x8))));
271 eerot[8]=((((x11)*(((((x3)*(x4)))+(((IkReal(-1.00000000000000))*(x32)))))))+(((x10)*(x36))));
272 eetrans[2]=((IkReal(0.525000000000000))+(((x16)*(x3)))+(((IkReal(0.790000000000000))*(x3)))+(((x22)*(x3)))+(((x10)*(x6)*(((((x12)*(x2)))+(((IkReal(0.100000000000000))*(x24)))))))+(((x15)*(x2)))+(((x11)*(((((x12)*(x3)))+(((IkReal(-0.100000000000000))*(x30)))))))+(((IkReal(-0.835000000000000))*(x30))));
285 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;
286 unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4,_ij5[2], _nj5;
289 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;
290 for(
int dummyiter = 0; dummyiter < 1; ++dummyiter) {
301 px = eetrans[0]; py = eetrans[1]; pz = eetrans[2];
304 new_r01=((IkReal(-1.00000000000000))*(r01));
305 new_r02=((IkReal(-1.00000000000000))*(r02));
306 new_px=((((IkReal(-0.100000000000000))*(r02)))+(px));
308 new_r11=((IkReal(-1.00000000000000))*(r11));
309 new_r12=((IkReal(-1.00000000000000))*(r12));
310 new_py=((((IkReal(-0.100000000000000))*(r12)))+(py));
312 new_r21=((IkReal(-1.00000000000000))*(r21));
313 new_r22=((IkReal(-1.00000000000000))*(r22));
314 new_pz=((IkReal(-0.525000000000000))+(((IkReal(-0.100000000000000))*(r22)))+(pz));
315 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;
316 pp=(((px)*(px))+((pz)*(pz))+((py)*(py)));
317 npx=((((py)*(r10)))+(((pz)*(r20)))+(((px)*(r00))));
318 npy=((((px)*(r01)))+(((pz)*(r21)))+(((py)*(r11))));
319 npz=((((py)*(r12)))+(((pz)*(r22)))+(((px)*(r02))));
320 rxp0_0=((((IkReal(-1.00000000000000))*(py)*(r20)))+(((pz)*(r10))));
321 rxp0_1=((((px)*(r20)))+(((IkReal(-1.00000000000000))*(pz)*(r00))));
322 rxp0_2=((((py)*(r00)))+(((IkReal(-1.00000000000000))*(px)*(r10))));
323 rxp1_0=((((pz)*(r11)))+(((IkReal(-1.00000000000000))*(py)*(r21))));
324 rxp1_1=((((IkReal(-1.00000000000000))*(pz)*(r01)))+(((px)*(r21))));
325 rxp1_2=((((py)*(r01)))+(((IkReal(-1.00000000000000))*(px)*(r11))));
326 rxp2_0=((((IkReal(-1.00000000000000))*(py)*(r22)))+(((pz)*(r12))));
327 rxp2_1=((((px)*(r22)))+(((IkReal(-1.00000000000000))*(pz)*(r02))));
328 rxp2_2=((((py)*(r02)))+(((IkReal(-1.00000000000000))*(px)*(r12))));
330 IkReal j0array[2], cj0array[2], sj0array[2];
331 bool j0valid[2]={
false};
335 IkReal x49=
IKatan2(py, ((IkReal(-1.00000000000000))*(px)));
336 j0array[0]=((IkReal(-1.00000000000000))*(x49));
337 sj0array[0]=
IKsin(j0array[0]);
338 cj0array[0]=
IKcos(j0array[0]);
339 j0array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x49))));
340 sj0array[1]=
IKsin(j0array[1]);
341 cj0array[1]=
IKcos(j0array[1]);
342 if( j0array[0] >
IKPI )
346 else if( j0array[0] < -
IKPI )
350 if( j0array[1] >
IKPI )
354 else if( j0array[1] < -
IKPI )
358 for(
int ij0 = 0; ij0 < 2; ++ij0)
364 _ij0[0] = ij0; _ij0[1] = -1;
365 for(
int iij0 = ij0+1; iij0 < 2; ++iij0)
369 j0valid[iij0]=
false; _ij0[1] = iij0;
break;
372 j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
375 IkReal j2array[2], cj2array[2], sj2array[2];
376 bool j2valid[2]={
false};
378 if( (((IkReal(0.988499660096861))+(((IkReal(0.217839162601920))*(cj0)*(px)))+(((IkReal(0.217839162601920))*(py)*(sj0)))+(((IkReal(-0.726130542006399))*(pp))))) < -1-
IKFAST_SINCOS_THRESH || (((IkReal(0.988499660096861))+(((IkReal(0.217839162601920))*(cj0)*(px)))+(((IkReal(0.217839162601920))*(py)*(sj0)))+(((IkReal(-0.726130542006399))*(pp))))) > 1+
IKFAST_SINCOS_THRESH )
380 IkReal x50=
IKasin(((IkReal(0.988499660096861))+(((IkReal(0.217839162601920))*(cj0)*(px)))+(((IkReal(0.217839162601920))*(py)*(sj0)))+(((IkReal(-0.726130542006399))*(pp)))));
381 j2array[0]=((IkReal(-0.290907343983709))+(((IkReal(-1.00000000000000))*(x50))));
382 sj2array[0]=
IKsin(j2array[0]);
383 cj2array[0]=
IKcos(j2array[0]);
384 j2array[1]=((IkReal(2.85068530960608))+(x50));
385 sj2array[1]=
IKsin(j2array[1]);
386 cj2array[1]=
IKcos(j2array[1]);
387 if( j2array[0] >
IKPI )
391 else if( j2array[0] < -
IKPI )
395 if( j2array[1] >
IKPI )
399 else if( j2array[1] < -
IKPI )
403 for(
int ij2 = 0; ij2 < 2; ++ij2)
409 _ij2[0] = ij2; _ij2[1] = -1;
410 for(
int iij2 = ij2+1; iij2 < 2; ++iij2)
414 j2valid[iij2]=
false; _ij2[1] = iij2;
break;
417 j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2];
422 IkReal x51=((IkReal(0.835000000000000))*(cj2));
423 IkReal x52=((py)*(sj0));
424 IkReal x53=((cj0)*(px));
425 IkReal x54=((IkReal(0.250000000000000))*(sj2));
426 gconst0=
IKsign(((((IkReal(-0.0375000000000000))*(sj2)))+(((IkReal(0.250000000000000))*(cj2)*(pz)))+(((IkReal(-1.00000000000000))*(x51)*(x53)))+(((x52)*(x54)))+(((x53)*(x54)))+(((IkReal(0.125250000000000))*(cj2)))+(((IkReal(0.790000000000000))*(pz)))+(((IkReal(0.835000000000000))*(pz)*(sj2)))+(((IkReal(-1.00000000000000))*(x51)*(x52)))));
427 IkReal x55=((py)*(sj0));
428 IkReal x56=((IkReal(22.2666666666667))*(cj2));
429 IkReal x57=((IkReal(6.66666666666667))*(sj2));
430 IkReal x58=((cj0)*(px));
431 dummyeval[0]=((((IkReal(21.0666666666667))*(pz)))+(((IkReal(-1.00000000000000))*(sj2)))+(((IkReal(6.66666666666667))*(cj2)*(pz)))+(((x55)*(x57)))+(((IkReal(-1.00000000000000))*(x56)*(x58)))+(((IkReal(-1.00000000000000))*(x55)*(x56)))+(((x57)*(x58)))+(((IkReal(3.34000000000000))*(cj2)))+(((IkReal(22.2666666666667))*(pz)*(sj2))));
432 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
437 IkReal x59=((py)*(sj0));
438 IkReal x60=((IkReal(0.250000000000000))*(cj2));
439 IkReal x61=((cj0)*(px));
440 IkReal x62=((IkReal(0.835000000000000))*(sj2));
441 gconst1=
IKsign(((IkReal(0.118500000000000))+(((IkReal(-0.790000000000000))*(x61)))+(((IkReal(-1.00000000000000))*(x60)*(x61)))+(((IkReal(0.0375000000000000))*(cj2)))+(((IkReal(-1.00000000000000))*(x59)*(x62)))+(((IkReal(0.250000000000000))*(pz)*(sj2)))+(((IkReal(-0.835000000000000))*(cj2)*(pz)))+(((IkReal(-0.790000000000000))*(x59)))+(((IkReal(-1.00000000000000))*(x61)*(x62)))+(((IkReal(-1.00000000000000))*(x59)*(x60)))+(((IkReal(0.125250000000000))*(sj2)))));
442 IkReal x63=((py)*(sj0));
443 IkReal x64=((IkReal(22.2666666666667))*(sj2));
444 IkReal x65=((IkReal(6.66666666666667))*(cj2));
445 IkReal x66=((cj0)*(px));
446 dummyeval[0]=((IkReal(3.16000000000000))+(((IkReal(-1.00000000000000))*(x64)*(x66)))+(((IkReal(-21.0666666666667))*(x66)))+(((IkReal(3.34000000000000))*(sj2)))+(((IkReal(-1.00000000000000))*(x63)*(x64)))+(((IkReal(-1.00000000000000))*(x65)*(x66)))+(cj2)+(((IkReal(-1.00000000000000))*(x63)*(x65)))+(((IkReal(6.66666666666667))*(pz)*(sj2)))+(((IkReal(-22.2666666666667))*(cj2)*(pz)))+(((IkReal(-21.0666666666667))*(x63))));
447 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
454 IkReal j1array[1], cj1array[1], sj1array[1];
455 bool j1valid[1]={
false};
457 IkReal x67=(sj2)*(sj2);
458 IkReal x68=(cj2)*(cj2);
459 IkReal x69=((cj2)*(sj2));
460 IkReal x70=((IkReal(1.00000000000000))*(pz));
461 if(
IKabs(((gconst1)*(((IkReal(-0.624100000000000))+(((IkReal(-0.417500000000000))*(x69)))+(((IkReal(-1.31930000000000))*(sj2)))+(((IkReal(-0.0625000000000000))*(x68)))+((pz)*(pz))+(((IkReal(-0.697225000000000))*(x67)))+(((IkReal(-0.395000000000000))*(cj2))))))) <
IKFAST_ATAN2_MAGTHRESH &&
IKabs(((gconst1)*(((((IkReal(-0.659650000000000))*(cj2)))+(((IkReal(0.197500000000000))*(sj2)))+(((IkReal(0.208750000000000))*(x67)))+(((IkReal(0.150000000000000))*(pz)))+(((IkReal(-1.00000000000000))*(cj0)*(px)*(x70)))+(((IkReal(-0.208750000000000))*(x68)))+(((IkReal(-0.634725000000000))*(x69)))+(((IkReal(-1.00000000000000))*(py)*(sj0)*(x70))))))) <
IKFAST_ATAN2_MAGTHRESH )
463 j1array[0]=
IKatan2(((gconst1)*(((IkReal(-0.624100000000000))+(((IkReal(-0.417500000000000))*(x69)))+(((IkReal(-1.31930000000000))*(sj2)))+(((IkReal(-0.0625000000000000))*(x68)))+((pz)*(pz))+(((IkReal(-0.697225000000000))*(x67)))+(((IkReal(-0.395000000000000))*(cj2)))))), ((gconst1)*(((((IkReal(-0.659650000000000))*(cj2)))+(((IkReal(0.197500000000000))*(sj2)))+(((IkReal(0.208750000000000))*(x67)))+(((IkReal(0.150000000000000))*(pz)))+(((IkReal(-1.00000000000000))*(cj0)*(px)*(x70)))+(((IkReal(-0.208750000000000))*(x68)))+(((IkReal(-0.634725000000000))*(x69)))+(((IkReal(-1.00000000000000))*(py)*(sj0)*(x70)))))));
464 sj1array[0]=
IKsin(j1array[0]);
465 cj1array[0]=
IKcos(j1array[0]);
466 if( j1array[0] >
IKPI )
470 else if( j1array[0] < -
IKPI )
474 for(
int ij1 = 0; ij1 < 1; ++ij1)
480 _ij1[0] = ij1; _ij1[1] = -1;
481 for(
int iij1 = ij1+1; iij1 < 1; ++iij1)
485 j1valid[iij1]=
false; _ij1[1] = iij1;
break;
488 j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
491 IkReal x71=
IKcos(j1);
492 IkReal x72=
IKsin(j1);
493 IkReal x73=((IkReal(0.250000000000000))*(sj2));
494 IkReal x74=((cj0)*(px));
495 IkReal x75=((IkReal(0.250000000000000))*(cj2));
496 IkReal x76=((py)*(sj0));
497 IkReal x77=((IkReal(0.835000000000000))*(sj2));
498 IkReal x78=((IkReal(0.835000000000000))*(cj2));
499 IkReal x79=((IkReal(1.00000000000000))*(x71));
500 IkReal x80=((x72)*(x74));
501 evalcond[0]=((((IkReal(-1.00000000000000))*(x76)*(x79)))+(((IkReal(0.150000000000000))*(x71)))+(((IkReal(-1.00000000000000))*(x74)*(x79)))+(((pz)*(x72)))+(x78)+(((IkReal(-1.00000000000000))*(x73))));
502 evalcond[1]=((((x72)*(x78)))+(((IkReal(-1.00000000000000))*(x72)*(x73)))+(((IkReal(-1.00000000000000))*(x71)*(x77)))+(((IkReal(-0.790000000000000))*(x71)))+(pz)+(((IkReal(-1.00000000000000))*(x71)*(x75))));
503 evalcond[2]=((IkReal(0.790000000000000))+(((IkReal(-1.00000000000000))*(x72)*(x76)))+(((IkReal(0.150000000000000))*(x72)))+(((IkReal(-1.00000000000000))*(x80)))+(x77)+(x75)+(((IkReal(-1.00000000000000))*(pz)*(x79))));
504 evalcond[3]=((IkReal(0.113125000000000))+(((IkReal(0.300000000000000))*(x74)))+(((IkReal(-0.237000000000000))*(x72)))+(((IkReal(-1.00000000000000))*(pp)))+(((IkReal(1.58000000000000))*(pz)*(x71)))+(((IkReal(0.300000000000000))*(x76)))+(((IkReal(1.58000000000000))*(x80)))+(((IkReal(1.58000000000000))*(x72)*(x76))));
505 evalcond[4]=((IkReal(0.150000000000000))+(((x71)*(x78)))+(((IkReal(0.790000000000000))*(x72)))+(((IkReal(-1.00000000000000))*(x76)))+(((IkReal(-1.00000000000000))*(x71)*(x73)))+(((x72)*(x77)))+(((IkReal(-1.00000000000000))*(x74)))+(((x72)*(x75))));
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(-0.634725000000000))*(x224)))+(((IkReal(-0.208750000000000))*(x223)))+(((IkReal(-0.659650000000000))*(cj2)))+(((IkReal(0.197500000000000))*(sj2)))+(((cj0)*(px)*(pz)))+(((IkReal(0.208750000000000))*(x222)))+(((IkReal(-0.150000000000000))*(pz)))+(((py)*(pz)*(sj0))))))) <
IKFAST_ATAN2_MAGTHRESH &&
IKabs(((gconst0)*(((((IkReal(0.417500000000000))*(x224)))+((pz)*(pz))+(((IkReal(-0.0625000000000000))*(x222)))+(((IkReal(-0.697225000000000))*(x223))))))) <
IKFAST_ATAN2_MAGTHRESH )
531 j1array[0]=
IKatan2(((gconst0)*(((((IkReal(-0.634725000000000))*(x224)))+(((IkReal(-0.208750000000000))*(x223)))+(((IkReal(-0.659650000000000))*(cj2)))+(((IkReal(0.197500000000000))*(sj2)))+(((cj0)*(px)*(pz)))+(((IkReal(0.208750000000000))*(x222)))+(((IkReal(-0.150000000000000))*(pz)))+(((py)*(pz)*(sj0)))))), ((gconst0)*(((((IkReal(0.417500000000000))*(x224)))+((pz)*(pz))+(((IkReal(-0.0625000000000000))*(x222)))+(((IkReal(-0.697225000000000))*(x223)))))));
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(0.250000000000000))*(sj2));
562 IkReal x228=((cj0)*(px));
563 IkReal x229=((IkReal(0.250000000000000))*(cj2));
564 IkReal x230=((py)*(sj0));
565 IkReal x231=((IkReal(0.835000000000000))*(sj2));
566 IkReal x232=((IkReal(0.835000000000000))*(cj2));
567 IkReal x233=((IkReal(1.00000000000000))*(x225));
568 IkReal x234=((x226)*(x228));
569 evalcond[0]=((((pz)*(x226)))+(((IkReal(-1.00000000000000))*(x230)*(x233)))+(x232)+(((IkReal(-1.00000000000000))*(x228)*(x233)))+(((IkReal(-1.00000000000000))*(x227)))+(((IkReal(0.150000000000000))*(x225))));
570 evalcond[1]=((((IkReal(-0.790000000000000))*(x225)))+(((IkReal(-1.00000000000000))*(x225)*(x229)))+(pz)+(((IkReal(-1.00000000000000))*(x226)*(x227)))+(((x226)*(x232)))+(((IkReal(-1.00000000000000))*(x225)*(x231))));
571 evalcond[2]=((IkReal(0.790000000000000))+(((IkReal(0.150000000000000))*(x226)))+(x231)+(((IkReal(-1.00000000000000))*(pz)*(x233)))+(((IkReal(-1.00000000000000))*(x226)*(x230)))+(x229)+(((IkReal(-1.00000000000000))*(x234))));
572 evalcond[3]=((IkReal(0.113125000000000))+(((IkReal(0.300000000000000))*(x228)))+(((IkReal(-0.237000000000000))*(x226)))+(((IkReal(1.58000000000000))*(pz)*(x225)))+(((IkReal(1.58000000000000))*(x234)))+(((IkReal(-1.00000000000000))*(pp)))+(((IkReal(1.58000000000000))*(x226)*(x230)))+(((IkReal(0.300000000000000))*(x230))));
573 evalcond[4]=((IkReal(0.150000000000000))+(((IkReal(0.790000000000000))*(x226)))+(((IkReal(-1.00000000000000))*(x225)*(x227)))+(((x226)*(x229)))+(((x225)*(x232)))+(((IkReal(-1.00000000000000))*(x230)))+(((IkReal(-1.00000000000000))*(x228)))+(((x226)*(x231))));
574 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 )
580 rotationfunction0(solutions);
595 for(
int rotationiter = 0; rotationiter < 1; ++rotationiter) {
596 IkReal x81=((r11)*(sj0));
597 IkReal x82=((cj0)*(r02));
598 IkReal x83=((sj1)*(sj2));
599 IkReal x84=((r10)*(sj0));
600 IkReal x85=((IkReal(1.00000000000000))*(cj1));
601 IkReal x86=((IkReal(1.00000000000000))*(sj0));
602 IkReal x87=((cj0)*(r00));
603 IkReal x88=((r12)*(sj0));
604 IkReal x89=((cj0)*(r01));
605 IkReal x90=((((IkReal(-1.00000000000000))*(sj2)*(x85)))+(((cj2)*(sj1))));
606 IkReal x91=((((cj1)*(cj2)))+(x83));
607 IkReal x92=((sj0)*(x90));
608 IkReal x93=((cj0)*(x90));
609 IkReal x94=((((IkReal(-1.00000000000000))*(x83)))+(((IkReal(-1.00000000000000))*(cj2)*(x85))));
610 new_r00=((((r20)*(x91)))+(((x84)*(x90)))+(((x87)*(x90))));
611 new_r01=((((r21)*(x91)))+(((x81)*(x90)))+(((x89)*(x90))));
612 new_r02=((((r22)*(x91)))+(((x82)*(x90)))+(((x88)*(x90))));
613 new_r10=((((cj0)*(r10)))+(((IkReal(-1.00000000000000))*(r00)*(x86))));
614 new_r11=((((IkReal(-1.00000000000000))*(r01)*(x86)))+(((cj0)*(r11))));
615 new_r12=((((IkReal(-1.00000000000000))*(r02)*(x86)))+(((cj0)*(r12))));
616 new_r20=((((x84)*(x94)))+(((r20)*(x90)))+(((x87)*(x94))));
617 new_r21=((((x81)*(x94)))+(((x89)*(x94)))+(((r21)*(x90))));
618 new_r22=((((r22)*(x90)))+(((x82)*(x94)))+(((x88)*(x94))));
620 IkReal j4array[2], cj4array[2], sj4array[2];
621 bool j4valid[2]={
false};
626 j4valid[0] = j4valid[1] =
true;
627 j4array[0] =
IKacos(cj4array[0]);
628 sj4array[0] =
IKsin(j4array[0]);
629 cj4array[1] = cj4array[0];
630 j4array[1] = -j4array[0];
631 sj4array[1] = -sj4array[0];
633 else if( isnan(cj4array[0]) )
637 cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
639 for(
int ij4 = 0; ij4 < 2; ++ij4)
645 _ij4[0] = ij4; _ij4[1] = -1;
646 for(
int iij4 = ij4+1; iij4 < 2; ++iij4)
650 j4valid[iij4]=
false; _ij4[1] = iij4;
break;
653 j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
660 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
665 gconst2=
IKsign(((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12))))));
666 dummyeval[0]=((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12)))));
667 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
672 gconst3=
IKsign(((((cj4)*((new_r02)*(new_r02))))+(((cj4)*((new_r12)*(new_r12))))));
673 dummyeval[0]=((((cj4)*((new_r02)*(new_r02))))+(((cj4)*((new_r12)*(new_r12)))));
674 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
678 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(1.57079632679490))+(j4)), IkReal(6.28318530717959))));
681 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 )
684 IkReal j5array[1], cj5array[1], sj5array[1];
685 bool j5valid[1]={
false};
689 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(new_r21)), new_r20);
690 sj5array[0]=
IKsin(j5array[0]);
691 cj5array[0]=
IKcos(j5array[0]);
692 if( j5array[0] >
IKPI )
696 else if( j5array[0] < -
IKPI )
700 for(
int ij5 = 0; ij5 < 1; ++ij5)
706 _ij5[0] = ij5; _ij5[1] = -1;
707 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
711 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
714 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
717 evalcond[0]=((new_r21)+(
IKsin(j5)));
718 evalcond[1]=((((IkReal(-1.00000000000000))*(
IKcos(j5))))+(new_r20));
719 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
728 gconst10=
IKsign(((((IkReal(-1.00000000000000))*(new_r01)*(new_r12)))+(((new_r02)*(new_r11)))));
729 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r01)*(new_r12)))+(((new_r02)*(new_r11))));
730 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
735 gconst11=
IKsign(((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10)))));
736 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10))));
737 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
744 IkReal j3array[1], cj3array[1], sj3array[1];
745 bool j3valid[1]={
false};
749 j3array[0]=
IKatan2(((gconst11)*(new_r00)), ((IkReal(-1.00000000000000))*(gconst11)*(new_r10)));
750 sj3array[0]=
IKsin(j3array[0]);
751 cj3array[0]=
IKcos(j3array[0]);
752 if( j3array[0] >
IKPI )
756 else if( j3array[0] < -
IKPI )
760 for(
int ij3 = 0; ij3 < 1; ++ij3)
766 _ij3[0] = ij3; _ij3[1] = -1;
767 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
771 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
774 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
777 IkReal x95=
IKsin(j3);
778 IkReal x96=
IKcos(j3);
779 IkReal x97=((IkReal(1.00000000000000))*(x96));
780 evalcond[0]=((((new_r12)*(x96)))+(((IkReal(-1.00000000000000))*(new_r02)*(x95))));
781 evalcond[1]=((IkReal(1.00000000000000))+(((new_r02)*(x96)))+(((new_r12)*(x95))));
782 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x97)))+(sj5)+(((new_r00)*(x95))));
783 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x97)))+(cj5)+(((new_r01)*(x95))));
784 evalcond[4]=((((new_r01)*(x96)))+(((new_r11)*(x95))));
785 evalcond[5]=((((new_r10)*(x95)))+(((new_r00)*(x96))));
786 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 )
793 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
794 vinfos[0].jointtype = 1;
795 vinfos[0].foffset = j0;
796 vinfos[0].indices[0] = _ij0[0];
797 vinfos[0].indices[1] = _ij0[1];
798 vinfos[0].maxsolutions = _nj0;
799 vinfos[1].jointtype = 1;
800 vinfos[1].foffset = j1;
801 vinfos[1].indices[0] = _ij1[0];
802 vinfos[1].indices[1] = _ij1[1];
803 vinfos[1].maxsolutions = _nj1;
804 vinfos[2].jointtype = 1;
805 vinfos[2].foffset = j2;
806 vinfos[2].indices[0] = _ij2[0];
807 vinfos[2].indices[1] = _ij2[1];
808 vinfos[2].maxsolutions = _nj2;
809 vinfos[3].jointtype = 1;
810 vinfos[3].foffset = j3;
811 vinfos[3].indices[0] = _ij3[0];
812 vinfos[3].indices[1] = _ij3[1];
813 vinfos[3].maxsolutions = _nj3;
814 vinfos[4].jointtype = 1;
815 vinfos[4].foffset = j4;
816 vinfos[4].indices[0] = _ij4[0];
817 vinfos[4].indices[1] = _ij4[1];
818 vinfos[4].maxsolutions = _nj4;
819 vinfos[5].jointtype = 1;
820 vinfos[5].foffset = j5;
821 vinfos[5].indices[0] = _ij5[0];
822 vinfos[5].indices[1] = _ij5[1];
823 vinfos[5].maxsolutions = _nj5;
824 std::vector<int> vfree(0);
837 IkReal j3array[1], cj3array[1], sj3array[1];
838 bool j3valid[1]={
false};
842 j3array[0]=
IKatan2(((gconst10)*(new_r01)), ((IkReal(-1.00000000000000))*(gconst10)*(new_r11)));
843 sj3array[0]=
IKsin(j3array[0]);
844 cj3array[0]=
IKcos(j3array[0]);
845 if( j3array[0] >
IKPI )
849 else if( j3array[0] < -
IKPI )
853 for(
int ij3 = 0; ij3 < 1; ++ij3)
859 _ij3[0] = ij3; _ij3[1] = -1;
860 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
864 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
867 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
870 IkReal x98=
IKsin(j3);
871 IkReal x99=
IKcos(j3);
872 IkReal x100=((IkReal(1.00000000000000))*(x99));
873 evalcond[0]=((((new_r12)*(x99)))+(((IkReal(-1.00000000000000))*(new_r02)*(x98))));
874 evalcond[1]=((IkReal(1.00000000000000))+(((new_r12)*(x98)))+(((new_r02)*(x99))));
875 evalcond[2]=((sj5)+(((new_r00)*(x98)))+(((IkReal(-1.00000000000000))*(new_r10)*(x100))));
876 evalcond[3]=((cj5)+(((new_r01)*(x98)))+(((IkReal(-1.00000000000000))*(new_r11)*(x100))));
877 evalcond[4]=((((new_r11)*(x98)))+(((new_r01)*(x99))));
878 evalcond[5]=((((new_r00)*(x99)))+(((new_r10)*(x98))));
879 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 )
886 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
887 vinfos[0].jointtype = 1;
888 vinfos[0].foffset = j0;
889 vinfos[0].indices[0] = _ij0[0];
890 vinfos[0].indices[1] = _ij0[1];
891 vinfos[0].maxsolutions = _nj0;
892 vinfos[1].jointtype = 1;
893 vinfos[1].foffset = j1;
894 vinfos[1].indices[0] = _ij1[0];
895 vinfos[1].indices[1] = _ij1[1];
896 vinfos[1].maxsolutions = _nj1;
897 vinfos[2].jointtype = 1;
898 vinfos[2].foffset = j2;
899 vinfos[2].indices[0] = _ij2[0];
900 vinfos[2].indices[1] = _ij2[1];
901 vinfos[2].maxsolutions = _nj2;
902 vinfos[3].jointtype = 1;
903 vinfos[3].foffset = j3;
904 vinfos[3].indices[0] = _ij3[0];
905 vinfos[3].indices[1] = _ij3[1];
906 vinfos[3].maxsolutions = _nj3;
907 vinfos[4].jointtype = 1;
908 vinfos[4].foffset = j4;
909 vinfos[4].indices[0] = _ij4[0];
910 vinfos[4].indices[1] = _ij4[1];
911 vinfos[4].maxsolutions = _nj4;
912 vinfos[5].jointtype = 1;
913 vinfos[5].foffset = j5;
914 vinfos[5].indices[0] = _ij5[0];
915 vinfos[5].indices[1] = _ij5[1];
916 vinfos[5].maxsolutions = _nj5;
917 std::vector<int> vfree(0);
931 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(4.71238898038469))+(j4)), IkReal(6.28318530717959))));
933 evalcond[2]=((IkReal(-1.00000000000000))*(new_r22));
934 if(
IKabs(evalcond[0]) < 0.0000010000000000 &&
IKabs(evalcond[1]) < 0.0000010000000000 &&
IKabs(evalcond[2]) < 0.0000010000000000 )
937 IkReal j5array[1], cj5array[1], sj5array[1];
938 bool j5valid[1]={
false};
942 j5array[0]=
IKatan2(new_r21, ((IkReal(-1.00000000000000))*(new_r20)));
943 sj5array[0]=
IKsin(j5array[0]);
944 cj5array[0]=
IKcos(j5array[0]);
945 if( j5array[0] >
IKPI )
949 else if( j5array[0] < -
IKPI )
953 for(
int ij5 = 0; ij5 < 1; ++ij5)
959 _ij5[0] = ij5; _ij5[1] = -1;
960 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
964 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
967 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
970 evalcond[0]=((new_r21)+(((IkReal(-1.00000000000000))*(
IKsin(j5)))));
971 evalcond[1]=((
IKcos(j5))+(new_r20));
972 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
981 gconst14=
IKsign(((((IkReal(-1.00000000000000))*(new_r02)*(new_r11)))+(((new_r01)*(new_r12)))));
982 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r02)*(new_r11)))+(((new_r01)*(new_r12))));
983 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
988 gconst15=
IKsign(((((new_r00)*(new_r12)))+(((IkReal(-1.00000000000000))*(new_r02)*(new_r10)))));
989 dummyeval[0]=((((new_r00)*(new_r12)))+(((IkReal(-1.00000000000000))*(new_r02)*(new_r10))));
990 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
997 IkReal j3array[1], cj3array[1], sj3array[1];
998 bool j3valid[1]={
false};
1002 j3array[0]=
IKatan2(((gconst15)*(new_r00)), ((IkReal(-1.00000000000000))*(gconst15)*(new_r10)));
1003 sj3array[0]=
IKsin(j3array[0]);
1004 cj3array[0]=
IKcos(j3array[0]);
1005 if( j3array[0] >
IKPI )
1009 else if( j3array[0] < -
IKPI )
1010 { j3array[0]+=
IK2PI;
1013 for(
int ij3 = 0; ij3 < 1; ++ij3)
1019 _ij3[0] = ij3; _ij3[1] = -1;
1020 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1024 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1027 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1030 IkReal x101=
IKsin(j3);
1031 IkReal x102=
IKcos(j3);
1032 IkReal x103=((IkReal(1.00000000000000))*(x102));
1033 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x101)))+(((new_r12)*(x102))));
1034 evalcond[1]=((IkReal(-1.00000000000000))+(((new_r02)*(x102)))+(((new_r12)*(x101))));
1035 evalcond[2]=((sj5)+(((new_r00)*(x101)))+(((IkReal(-1.00000000000000))*(new_r10)*(x103))));
1036 evalcond[3]=((((new_r01)*(x101)))+(((IkReal(-1.00000000000000))*(new_r11)*(x103)))+(cj5));
1037 evalcond[4]=((((new_r11)*(x101)))+(((new_r01)*(x102))));
1038 evalcond[5]=((((new_r00)*(x102)))+(((new_r10)*(x101))));
1039 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 )
1046 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1047 vinfos[0].jointtype = 1;
1048 vinfos[0].foffset = j0;
1049 vinfos[0].indices[0] = _ij0[0];
1050 vinfos[0].indices[1] = _ij0[1];
1051 vinfos[0].maxsolutions = _nj0;
1052 vinfos[1].jointtype = 1;
1053 vinfos[1].foffset = j1;
1054 vinfos[1].indices[0] = _ij1[0];
1055 vinfos[1].indices[1] = _ij1[1];
1056 vinfos[1].maxsolutions = _nj1;
1057 vinfos[2].jointtype = 1;
1058 vinfos[2].foffset = j2;
1059 vinfos[2].indices[0] = _ij2[0];
1060 vinfos[2].indices[1] = _ij2[1];
1061 vinfos[2].maxsolutions = _nj2;
1062 vinfos[3].jointtype = 1;
1063 vinfos[3].foffset = j3;
1064 vinfos[3].indices[0] = _ij3[0];
1065 vinfos[3].indices[1] = _ij3[1];
1066 vinfos[3].maxsolutions = _nj3;
1067 vinfos[4].jointtype = 1;
1068 vinfos[4].foffset = j4;
1069 vinfos[4].indices[0] = _ij4[0];
1070 vinfos[4].indices[1] = _ij4[1];
1071 vinfos[4].maxsolutions = _nj4;
1072 vinfos[5].jointtype = 1;
1073 vinfos[5].foffset = j5;
1074 vinfos[5].indices[0] = _ij5[0];
1075 vinfos[5].indices[1] = _ij5[1];
1076 vinfos[5].maxsolutions = _nj5;
1077 std::vector<int> vfree(0);
1090 IkReal j3array[1], cj3array[1], sj3array[1];
1091 bool j3valid[1]={
false};
1095 j3array[0]=
IKatan2(((gconst14)*(new_r01)), ((IkReal(-1.00000000000000))*(gconst14)*(new_r11)));
1096 sj3array[0]=
IKsin(j3array[0]);
1097 cj3array[0]=
IKcos(j3array[0]);
1098 if( j3array[0] >
IKPI )
1102 else if( j3array[0] < -
IKPI )
1103 { j3array[0]+=
IK2PI;
1106 for(
int ij3 = 0; ij3 < 1; ++ij3)
1112 _ij3[0] = ij3; _ij3[1] = -1;
1113 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1117 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1120 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1123 IkReal x104=
IKsin(j3);
1124 IkReal x105=
IKcos(j3);
1125 IkReal x106=((IkReal(1.00000000000000))*(x105));
1126 evalcond[0]=((((new_r12)*(x105)))+(((IkReal(-1.00000000000000))*(new_r02)*(x104))));
1127 evalcond[1]=((IkReal(-1.00000000000000))+(((new_r12)*(x104)))+(((new_r02)*(x105))));
1128 evalcond[2]=((sj5)+(((new_r00)*(x104)))+(((IkReal(-1.00000000000000))*(new_r10)*(x106))));
1129 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x106)))+(cj5)+(((new_r01)*(x104))));
1130 evalcond[4]=((((new_r01)*(x105)))+(((new_r11)*(x104))));
1131 evalcond[5]=((((new_r10)*(x104)))+(((new_r00)*(x105))));
1132 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 )
1139 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1140 vinfos[0].jointtype = 1;
1141 vinfos[0].foffset = j0;
1142 vinfos[0].indices[0] = _ij0[0];
1143 vinfos[0].indices[1] = _ij0[1];
1144 vinfos[0].maxsolutions = _nj0;
1145 vinfos[1].jointtype = 1;
1146 vinfos[1].foffset = j1;
1147 vinfos[1].indices[0] = _ij1[0];
1148 vinfos[1].indices[1] = _ij1[1];
1149 vinfos[1].maxsolutions = _nj1;
1150 vinfos[2].jointtype = 1;
1151 vinfos[2].foffset = j2;
1152 vinfos[2].indices[0] = _ij2[0];
1153 vinfos[2].indices[1] = _ij2[1];
1154 vinfos[2].maxsolutions = _nj2;
1155 vinfos[3].jointtype = 1;
1156 vinfos[3].foffset = j3;
1157 vinfos[3].indices[0] = _ij3[0];
1158 vinfos[3].indices[1] = _ij3[1];
1159 vinfos[3].maxsolutions = _nj3;
1160 vinfos[4].jointtype = 1;
1161 vinfos[4].foffset = j4;
1162 vinfos[4].indices[0] = _ij4[0];
1163 vinfos[4].indices[1] = _ij4[1];
1164 vinfos[4].maxsolutions = _nj4;
1165 vinfos[5].jointtype = 1;
1166 vinfos[5].foffset = j5;
1167 vinfos[5].indices[0] = _ij5[0];
1168 vinfos[5].indices[1] = _ij5[1];
1169 vinfos[5].maxsolutions = _nj5;
1170 std::vector<int> vfree(0);
1184 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
1185 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
1186 evalcond[2]=new_r21;
1187 evalcond[3]=new_r20;
1188 evalcond[4]=((IkReal(-1.00000000000000))*(new_r20));
1189 evalcond[5]=((IkReal(-1.00000000000000))*(new_r21));
1190 evalcond[6]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
1191 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 )
1194 IkReal j3array[2], cj3array[2], sj3array[2];
1195 bool j3valid[2]={
false};
1199 IkReal x107=
IKatan2(new_r02, new_r12);
1200 j3array[0]=((IkReal(-1.00000000000000))*(x107));
1201 sj3array[0]=
IKsin(j3array[0]);
1202 cj3array[0]=
IKcos(j3array[0]);
1203 j3array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x107))));
1204 sj3array[1]=
IKsin(j3array[1]);
1205 cj3array[1]=
IKcos(j3array[1]);
1206 if( j3array[0] >
IKPI )
1210 else if( j3array[0] < -
IKPI )
1211 { j3array[0]+=
IK2PI;
1214 if( j3array[1] >
IKPI )
1218 else if( j3array[1] < -
IKPI )
1219 { j3array[1]+=
IK2PI;
1222 for(
int ij3 = 0; ij3 < 2; ++ij3)
1228 _ij3[0] = ij3; _ij3[1] = -1;
1229 for(
int iij3 = ij3+1; iij3 < 2; ++iij3)
1233 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1236 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1239 evalcond[0]=((((new_r12)*(
IKcos(j3))))+(((IkReal(-1.00000000000000))*(new_r02)*(
IKsin(j3)))));
1240 if(
IKabs(evalcond[0]) > 0.000001 )
1247 IkReal j5array[1], cj5array[1], sj5array[1];
1248 bool j5valid[1]={
false};
1250 IkReal x108=((IkReal(1.00000000000000))*(sj3));
1253 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x108)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x108)))));
1254 sj5array[0]=
IKsin(j5array[0]);
1255 cj5array[0]=
IKcos(j5array[0]);
1256 if( j5array[0] >
IKPI )
1260 else if( j5array[0] < -
IKPI )
1261 { j5array[0]+=
IK2PI;
1264 for(
int ij5 = 0; ij5 < 1; ++ij5)
1270 _ij5[0] = ij5; _ij5[1] = -1;
1271 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1275 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1278 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1281 IkReal x109=
IKsin(j5);
1282 IkReal x110=
IKcos(j5);
1283 IkReal x111=((IkReal(1.00000000000000))*(cj3));
1284 evalcond[0]=((x109)+(((new_r00)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r10)*(x111))));
1285 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x111)))+(((new_r01)*(sj3)))+(x110));
1286 evalcond[2]=((((new_r11)*(sj3)))+(x109)+(((cj3)*(new_r01))));
1287 evalcond[3]=((((new_r10)*(sj3)))+(((cj3)*(new_r00)))+(((IkReal(-1.00000000000000))*(x110))));
1288 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1295 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1296 vinfos[0].jointtype = 1;
1297 vinfos[0].foffset = j0;
1298 vinfos[0].indices[0] = _ij0[0];
1299 vinfos[0].indices[1] = _ij0[1];
1300 vinfos[0].maxsolutions = _nj0;
1301 vinfos[1].jointtype = 1;
1302 vinfos[1].foffset = j1;
1303 vinfos[1].indices[0] = _ij1[0];
1304 vinfos[1].indices[1] = _ij1[1];
1305 vinfos[1].maxsolutions = _nj1;
1306 vinfos[2].jointtype = 1;
1307 vinfos[2].foffset = j2;
1308 vinfos[2].indices[0] = _ij2[0];
1309 vinfos[2].indices[1] = _ij2[1];
1310 vinfos[2].maxsolutions = _nj2;
1311 vinfos[3].jointtype = 1;
1312 vinfos[3].foffset = j3;
1313 vinfos[3].indices[0] = _ij3[0];
1314 vinfos[3].indices[1] = _ij3[1];
1315 vinfos[3].maxsolutions = _nj3;
1316 vinfos[4].jointtype = 1;
1317 vinfos[4].foffset = j4;
1318 vinfos[4].indices[0] = _ij4[0];
1319 vinfos[4].indices[1] = _ij4[1];
1320 vinfos[4].maxsolutions = _nj4;
1321 vinfos[5].jointtype = 1;
1322 vinfos[5].foffset = j5;
1323 vinfos[5].indices[0] = _ij5[0];
1324 vinfos[5].indices[1] = _ij5[1];
1325 vinfos[5].maxsolutions = _nj5;
1326 std::vector<int> vfree(0);
1336 IkReal x112=((IkReal(1.00000000000000))+(new_r22));
1337 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
1339 evalcond[2]=new_r21;
1340 evalcond[3]=new_r20;
1341 evalcond[4]=new_r20;
1342 evalcond[5]=new_r21;
1344 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 )
1347 IkReal j3array[2], cj3array[2], sj3array[2];
1348 bool j3valid[2]={
false};
1352 IkReal x113=
IKatan2(new_r02, new_r12);
1353 j3array[0]=((IkReal(-1.00000000000000))*(x113));
1354 sj3array[0]=
IKsin(j3array[0]);
1355 cj3array[0]=
IKcos(j3array[0]);
1356 j3array[1]=((IkReal(3.14159265358979))+(((IkReal(-1.00000000000000))*(x113))));
1357 sj3array[1]=
IKsin(j3array[1]);
1358 cj3array[1]=
IKcos(j3array[1]);
1359 if( j3array[0] >
IKPI )
1363 else if( j3array[0] < -
IKPI )
1364 { j3array[0]+=
IK2PI;
1367 if( j3array[1] >
IKPI )
1371 else if( j3array[1] < -
IKPI )
1372 { j3array[1]+=
IK2PI;
1375 for(
int ij3 = 0; ij3 < 2; ++ij3)
1381 _ij3[0] = ij3; _ij3[1] = -1;
1382 for(
int iij3 = ij3+1; iij3 < 2; ++iij3)
1386 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1389 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1392 evalcond[0]=((((new_r12)*(
IKcos(j3))))+(((IkReal(-1.00000000000000))*(new_r02)*(
IKsin(j3)))));
1393 if(
IKabs(evalcond[0]) > 0.000001 )
1400 IkReal j5array[1], cj5array[1], sj5array[1];
1401 bool j5valid[1]={
false};
1403 IkReal x114=((IkReal(1.00000000000000))*(sj3));
1406 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x114)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x114)))));
1407 sj5array[0]=
IKsin(j5array[0]);
1408 cj5array[0]=
IKcos(j5array[0]);
1409 if( j5array[0] >
IKPI )
1413 else if( j5array[0] < -
IKPI )
1414 { j5array[0]+=
IK2PI;
1417 for(
int ij5 = 0; ij5 < 1; ++ij5)
1423 _ij5[0] = ij5; _ij5[1] = -1;
1424 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1428 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1431 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1434 IkReal x115=
IKsin(j5);
1435 IkReal x116=
IKcos(j5);
1436 IkReal x117=((IkReal(1.00000000000000))*(cj3));
1437 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x117)))+(x115)+(((new_r00)*(sj3))));
1438 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x117)))+(((new_r01)*(sj3)))+(x116));
1439 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x115)))+(((cj3)*(new_r01))));
1440 evalcond[3]=((((new_r10)*(sj3)))+(x116)+(((cj3)*(new_r00))));
1441 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1448 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1449 vinfos[0].jointtype = 1;
1450 vinfos[0].foffset = j0;
1451 vinfos[0].indices[0] = _ij0[0];
1452 vinfos[0].indices[1] = _ij0[1];
1453 vinfos[0].maxsolutions = _nj0;
1454 vinfos[1].jointtype = 1;
1455 vinfos[1].foffset = j1;
1456 vinfos[1].indices[0] = _ij1[0];
1457 vinfos[1].indices[1] = _ij1[1];
1458 vinfos[1].maxsolutions = _nj1;
1459 vinfos[2].jointtype = 1;
1460 vinfos[2].foffset = j2;
1461 vinfos[2].indices[0] = _ij2[0];
1462 vinfos[2].indices[1] = _ij2[1];
1463 vinfos[2].maxsolutions = _nj2;
1464 vinfos[3].jointtype = 1;
1465 vinfos[3].foffset = j3;
1466 vinfos[3].indices[0] = _ij3[0];
1467 vinfos[3].indices[1] = _ij3[1];
1468 vinfos[3].maxsolutions = _nj3;
1469 vinfos[4].jointtype = 1;
1470 vinfos[4].foffset = j4;
1471 vinfos[4].indices[0] = _ij4[0];
1472 vinfos[4].indices[1] = _ij4[1];
1473 vinfos[4].maxsolutions = _nj4;
1474 vinfos[5].jointtype = 1;
1475 vinfos[5].foffset = j5;
1476 vinfos[5].indices[0] = _ij5[0];
1477 vinfos[5].indices[1] = _ij5[1];
1478 vinfos[5].maxsolutions = _nj5;
1479 std::vector<int> vfree(0);
1505 IkReal j3array[1], cj3array[1], sj3array[1];
1506 bool j3valid[1]={
false};
1508 IkReal x118=((IkReal(-1.00000000000000))*(gconst3)*(new_r22)*(sj4));
1511 j3array[0]=
IKatan2(((new_r12)*(x118)), ((new_r02)*(x118)));
1512 sj3array[0]=
IKsin(j3array[0]);
1513 cj3array[0]=
IKcos(j3array[0]);
1514 if( j3array[0] >
IKPI )
1518 else if( j3array[0] < -
IKPI )
1519 { j3array[0]+=
IK2PI;
1522 for(
int ij3 = 0; ij3 < 1; ++ij3)
1528 _ij3[0] = ij3; _ij3[1] = -1;
1529 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
1533 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
1536 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
1539 IkReal x119=
IKsin(j3);
1540 IkReal x120=
IKcos(j3);
1541 IkReal x121=((IkReal(1.00000000000000))*(cj4));
1542 IkReal x122=((new_r02)*(x120));
1543 IkReal x123=((sj4)*(x119));
1544 IkReal x124=((sj4)*(x120));
1545 IkReal x125=((new_r12)*(x119));
1546 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x119)))+(((new_r12)*(x120))));
1547 evalcond[1]=((sj4)+(x125)+(x122));
1548 evalcond[2]=((((new_r22)*(sj4)))+(((cj4)*(x125)))+(((cj4)*(x122))));
1549 evalcond[3]=((((new_r00)*(x124)))+(((IkReal(-1.00000000000000))*(new_r20)*(x121)))+(((new_r10)*(x123))));
1550 evalcond[4]=((((new_r11)*(x123)))+(((IkReal(-1.00000000000000))*(new_r21)*(x121)))+(((new_r01)*(x124))));
1551 evalcond[5]=((IkReal(1.00000000000000))+(((sj4)*(x122)))+(((IkReal(-1.00000000000000))*(new_r22)*(x121)))+(((new_r12)*(x123))));
1552 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 )
1559 IkReal dummyeval[1];
1563 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1566 IkReal dummyeval[1];
1568 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1571 IkReal dummyeval[1];
1573 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
1576 IkReal evalcond[11];
1577 IkReal x126=((cj3)*(new_r12));
1578 IkReal x127=((new_r02)*(sj3));
1579 IkReal x128=((((new_r12)*(sj3)))+(((cj3)*(new_r02))));
1580 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
1581 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
1582 evalcond[2]=new_r21;
1583 evalcond[3]=new_r20;
1584 evalcond[4]=((((IkReal(-1.00000000000000))*(x127)))+(x126));
1585 evalcond[5]=((((IkReal(-1.00000000000000))*(x126)))+(x127));
1588 evalcond[8]=((IkReal(-1.00000000000000))*(new_r20));
1589 evalcond[9]=((IkReal(-1.00000000000000))*(new_r21));
1590 evalcond[10]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
1591 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 )
1594 IkReal j5array[1], cj5array[1], sj5array[1];
1595 bool j5valid[1]={
false};
1597 IkReal x129=((IkReal(1.00000000000000))*(sj3));
1600 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x129)))+(((cj3)*(new_r10)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x129)))));
1601 sj5array[0]=
IKsin(j5array[0]);
1602 cj5array[0]=
IKcos(j5array[0]);
1603 if( j5array[0] >
IKPI )
1607 else if( j5array[0] < -
IKPI )
1608 { j5array[0]+=
IK2PI;
1611 for(
int ij5 = 0; ij5 < 1; ++ij5)
1617 _ij5[0] = ij5; _ij5[1] = -1;
1618 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1622 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1625 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1628 IkReal x130=
IKsin(j5);
1629 IkReal x131=
IKcos(j5);
1630 IkReal x132=((IkReal(1.00000000000000))*(cj3));
1631 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x132)))+(x130)+(((new_r00)*(sj3))));
1632 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x132)))+(((new_r01)*(sj3)))+(x131));
1633 evalcond[2]=((((new_r11)*(sj3)))+(x130)+(((cj3)*(new_r01))));
1634 evalcond[3]=((((new_r10)*(sj3)))+(((IkReal(-1.00000000000000))*(x131)))+(((cj3)*(new_r00))));
1635 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1642 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1643 vinfos[0].jointtype = 1;
1644 vinfos[0].foffset = j0;
1645 vinfos[0].indices[0] = _ij0[0];
1646 vinfos[0].indices[1] = _ij0[1];
1647 vinfos[0].maxsolutions = _nj0;
1648 vinfos[1].jointtype = 1;
1649 vinfos[1].foffset = j1;
1650 vinfos[1].indices[0] = _ij1[0];
1651 vinfos[1].indices[1] = _ij1[1];
1652 vinfos[1].maxsolutions = _nj1;
1653 vinfos[2].jointtype = 1;
1654 vinfos[2].foffset = j2;
1655 vinfos[2].indices[0] = _ij2[0];
1656 vinfos[2].indices[1] = _ij2[1];
1657 vinfos[2].maxsolutions = _nj2;
1658 vinfos[3].jointtype = 1;
1659 vinfos[3].foffset = j3;
1660 vinfos[3].indices[0] = _ij3[0];
1661 vinfos[3].indices[1] = _ij3[1];
1662 vinfos[3].maxsolutions = _nj3;
1663 vinfos[4].jointtype = 1;
1664 vinfos[4].foffset = j4;
1665 vinfos[4].indices[0] = _ij4[0];
1666 vinfos[4].indices[1] = _ij4[1];
1667 vinfos[4].maxsolutions = _nj4;
1668 vinfos[5].jointtype = 1;
1669 vinfos[5].foffset = j5;
1670 vinfos[5].indices[0] = _ij5[0];
1671 vinfos[5].indices[1] = _ij5[1];
1672 vinfos[5].maxsolutions = _nj5;
1673 std::vector<int> vfree(0);
1681 IkReal x133=((IkReal(1.00000000000000))+(new_r22));
1682 IkReal x134=((cj3)*(new_r12));
1683 IkReal x135=((new_r12)*(sj3));
1684 IkReal x136=((new_r02)*(sj3));
1685 IkReal x137=((cj3)*(new_r02));
1686 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
1688 evalcond[2]=new_r21;
1689 evalcond[3]=new_r20;
1690 evalcond[4]=((x134)+(((IkReal(-1.00000000000000))*(x136))));
1691 evalcond[5]=((((IkReal(-1.00000000000000))*(x134)))+(x136));
1692 evalcond[6]=((x135)+(x137));
1693 evalcond[7]=((((IkReal(-1.00000000000000))*(x135)))+(((IkReal(-1.00000000000000))*(x137))));
1694 evalcond[8]=new_r20;
1695 evalcond[9]=new_r21;
1697 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 )
1700 IkReal j5array[1], cj5array[1], sj5array[1];
1701 bool j5valid[1]={
false};
1703 IkReal x138=((IkReal(1.00000000000000))*(sj3));
1706 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x138)))+(((cj3)*(new_r10)))), ((((cj3)*(new_r11)))+(((IkReal(-1.00000000000000))*(new_r01)*(x138)))));
1707 sj5array[0]=
IKsin(j5array[0]);
1708 cj5array[0]=
IKcos(j5array[0]);
1709 if( j5array[0] >
IKPI )
1713 else if( j5array[0] < -
IKPI )
1714 { j5array[0]+=
IK2PI;
1717 for(
int ij5 = 0; ij5 < 1; ++ij5)
1723 _ij5[0] = ij5; _ij5[1] = -1;
1724 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1728 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1731 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1734 IkReal x139=
IKsin(j5);
1735 IkReal x140=
IKcos(j5);
1736 IkReal x141=((IkReal(1.00000000000000))*(cj3));
1737 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x141)))+(x139)+(((new_r00)*(sj3))));
1738 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x141)))+(((new_r01)*(sj3)))+(x140));
1739 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x139)))+(((cj3)*(new_r01))));
1740 evalcond[3]=((((new_r10)*(sj3)))+(x140)+(((cj3)*(new_r00))));
1741 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
1748 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1749 vinfos[0].jointtype = 1;
1750 vinfos[0].foffset = j0;
1751 vinfos[0].indices[0] = _ij0[0];
1752 vinfos[0].indices[1] = _ij0[1];
1753 vinfos[0].maxsolutions = _nj0;
1754 vinfos[1].jointtype = 1;
1755 vinfos[1].foffset = j1;
1756 vinfos[1].indices[0] = _ij1[0];
1757 vinfos[1].indices[1] = _ij1[1];
1758 vinfos[1].maxsolutions = _nj1;
1759 vinfos[2].jointtype = 1;
1760 vinfos[2].foffset = j2;
1761 vinfos[2].indices[0] = _ij2[0];
1762 vinfos[2].indices[1] = _ij2[1];
1763 vinfos[2].maxsolutions = _nj2;
1764 vinfos[3].jointtype = 1;
1765 vinfos[3].foffset = j3;
1766 vinfos[3].indices[0] = _ij3[0];
1767 vinfos[3].indices[1] = _ij3[1];
1768 vinfos[3].maxsolutions = _nj3;
1769 vinfos[4].jointtype = 1;
1770 vinfos[4].foffset = j4;
1771 vinfos[4].indices[0] = _ij4[0];
1772 vinfos[4].indices[1] = _ij4[1];
1773 vinfos[4].maxsolutions = _nj4;
1774 vinfos[5].jointtype = 1;
1775 vinfos[5].foffset = j5;
1776 vinfos[5].indices[0] = _ij5[0];
1777 vinfos[5].indices[1] = _ij5[1];
1778 vinfos[5].maxsolutions = _nj5;
1779 std::vector<int> vfree(0);
1801 IkReal j5array[1], cj5array[1], sj5array[1];
1802 bool j5valid[1]={
false};
1806 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)))));
1807 sj5array[0]=
IKsin(j5array[0]);
1808 cj5array[0]=
IKcos(j5array[0]);
1809 if( j5array[0] >
IKPI )
1813 else if( j5array[0] < -
IKPI )
1814 { j5array[0]+=
IK2PI;
1817 for(
int ij5 = 0; ij5 < 1; ++ij5)
1823 _ij5[0] = ij5; _ij5[1] = -1;
1824 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1828 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1831 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1834 IkReal x142=
IKsin(j5);
1835 IkReal x143=
IKcos(j5);
1836 IkReal x144=((IkReal(1.00000000000000))*(cj3));
1837 IkReal x145=((cj4)*(sj3));
1838 IkReal x146=((cj3)*(cj4));
1839 IkReal x147=((IkReal(1.00000000000000))*(x143));
1840 evalcond[0]=((((sj4)*(x142)))+(new_r21));
1841 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x147))));
1842 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x144)))+(x142)+(((new_r00)*(sj3))));
1843 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x144)))+(((new_r01)*(sj3)))+(x143));
1844 evalcond[4]=((((cj4)*(x142)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
1845 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x147)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
1846 evalcond[6]=((((new_r21)*(sj4)))+(((new_r11)*(x145)))+(((new_r01)*(x146)))+(x142));
1847 evalcond[7]=((((new_r10)*(x145)))+(((new_r20)*(sj4)))+(((new_r00)*(x146)))+(((IkReal(-1.00000000000000))*(x147))));
1848 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 )
1855 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1856 vinfos[0].jointtype = 1;
1857 vinfos[0].foffset = j0;
1858 vinfos[0].indices[0] = _ij0[0];
1859 vinfos[0].indices[1] = _ij0[1];
1860 vinfos[0].maxsolutions = _nj0;
1861 vinfos[1].jointtype = 1;
1862 vinfos[1].foffset = j1;
1863 vinfos[1].indices[0] = _ij1[0];
1864 vinfos[1].indices[1] = _ij1[1];
1865 vinfos[1].maxsolutions = _nj1;
1866 vinfos[2].jointtype = 1;
1867 vinfos[2].foffset = j2;
1868 vinfos[2].indices[0] = _ij2[0];
1869 vinfos[2].indices[1] = _ij2[1];
1870 vinfos[2].maxsolutions = _nj2;
1871 vinfos[3].jointtype = 1;
1872 vinfos[3].foffset = j3;
1873 vinfos[3].indices[0] = _ij3[0];
1874 vinfos[3].indices[1] = _ij3[1];
1875 vinfos[3].maxsolutions = _nj3;
1876 vinfos[4].jointtype = 1;
1877 vinfos[4].foffset = j4;
1878 vinfos[4].indices[0] = _ij4[0];
1879 vinfos[4].indices[1] = _ij4[1];
1880 vinfos[4].maxsolutions = _nj4;
1881 vinfos[5].jointtype = 1;
1882 vinfos[5].foffset = j5;
1883 vinfos[5].indices[0] = _ij5[0];
1884 vinfos[5].indices[1] = _ij5[1];
1885 vinfos[5].maxsolutions = _nj5;
1886 std::vector<int> vfree(0);
1899 IkReal j5array[1], cj5array[1], sj5array[1];
1900 bool j5valid[1]={
false};
1904 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(sj3)))+(((cj3)*(new_r10)))), ((new_r20)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))));
1905 sj5array[0]=
IKsin(j5array[0]);
1906 cj5array[0]=
IKcos(j5array[0]);
1907 if( j5array[0] >
IKPI )
1911 else if( j5array[0] < -
IKPI )
1912 { j5array[0]+=
IK2PI;
1915 for(
int ij5 = 0; ij5 < 1; ++ij5)
1921 _ij5[0] = ij5; _ij5[1] = -1;
1922 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
1926 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
1929 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
1932 IkReal x148=
IKsin(j5);
1933 IkReal x149=
IKcos(j5);
1934 IkReal x150=((IkReal(1.00000000000000))*(cj3));
1935 IkReal x151=((cj4)*(sj3));
1936 IkReal x152=((cj3)*(cj4));
1937 IkReal x153=((IkReal(1.00000000000000))*(x149));
1938 evalcond[0]=((((sj4)*(x148)))+(new_r21));
1939 evalcond[1]=((((IkReal(-1.00000000000000))*(sj4)*(x153)))+(new_r20));
1940 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x150)))+(x148)+(((new_r00)*(sj3))));
1941 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x150)))+(((new_r01)*(sj3)))+(x149));
1942 evalcond[4]=((((new_r11)*(sj3)))+(((cj4)*(x148)))+(((cj3)*(new_r01))));
1943 evalcond[5]=((((new_r10)*(sj3)))+(((IkReal(-1.00000000000000))*(cj4)*(x153)))+(((cj3)*(new_r00))));
1944 evalcond[6]=((((new_r21)*(sj4)))+(((new_r01)*(x152)))+(((new_r11)*(x151)))+(x148));
1945 evalcond[7]=((((new_r10)*(x151)))+(((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(x153)))+(((new_r00)*(x152))));
1946 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 )
1953 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
1954 vinfos[0].jointtype = 1;
1955 vinfos[0].foffset = j0;
1956 vinfos[0].indices[0] = _ij0[0];
1957 vinfos[0].indices[1] = _ij0[1];
1958 vinfos[0].maxsolutions = _nj0;
1959 vinfos[1].jointtype = 1;
1960 vinfos[1].foffset = j1;
1961 vinfos[1].indices[0] = _ij1[0];
1962 vinfos[1].indices[1] = _ij1[1];
1963 vinfos[1].maxsolutions = _nj1;
1964 vinfos[2].jointtype = 1;
1965 vinfos[2].foffset = j2;
1966 vinfos[2].indices[0] = _ij2[0];
1967 vinfos[2].indices[1] = _ij2[1];
1968 vinfos[2].maxsolutions = _nj2;
1969 vinfos[3].jointtype = 1;
1970 vinfos[3].foffset = j3;
1971 vinfos[3].indices[0] = _ij3[0];
1972 vinfos[3].indices[1] = _ij3[1];
1973 vinfos[3].maxsolutions = _nj3;
1974 vinfos[4].jointtype = 1;
1975 vinfos[4].foffset = j4;
1976 vinfos[4].indices[0] = _ij4[0];
1977 vinfos[4].indices[1] = _ij4[1];
1978 vinfos[4].maxsolutions = _nj4;
1979 vinfos[5].jointtype = 1;
1980 vinfos[5].foffset = j5;
1981 vinfos[5].indices[0] = _ij5[0];
1982 vinfos[5].indices[1] = _ij5[1];
1983 vinfos[5].maxsolutions = _nj5;
1984 std::vector<int> vfree(0);
1997 IkReal j5array[1], cj5array[1], sj5array[1];
1998 bool j5valid[1]={
false};
2002 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst5)*(new_r21)), ((gconst5)*(new_r20)));
2003 sj5array[0]=
IKsin(j5array[0]);
2004 cj5array[0]=
IKcos(j5array[0]);
2005 if( j5array[0] >
IKPI )
2009 else if( j5array[0] < -
IKPI )
2010 { j5array[0]+=
IK2PI;
2013 for(
int ij5 = 0; ij5 < 1; ++ij5)
2019 _ij5[0] = ij5; _ij5[1] = -1;
2020 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2024 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2027 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2030 IkReal x154=
IKsin(j5);
2031 IkReal x155=
IKcos(j5);
2032 IkReal x156=((IkReal(1.00000000000000))*(cj3));
2033 IkReal x157=((cj4)*(sj3));
2034 IkReal x158=((cj3)*(cj4));
2035 IkReal x159=((IkReal(1.00000000000000))*(x155));
2036 evalcond[0]=((((sj4)*(x154)))+(new_r21));
2037 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x159))));
2038 evalcond[2]=((x154)+(((IkReal(-1.00000000000000))*(new_r10)*(x156)))+(((new_r00)*(sj3))));
2039 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x156)))+(x155)+(((new_r01)*(sj3))));
2040 evalcond[4]=((((new_r11)*(sj3)))+(((cj4)*(x154)))+(((cj3)*(new_r01))));
2041 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x159)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2042 evalcond[6]=((((new_r21)*(sj4)))+(x154)+(((new_r11)*(x157)))+(((new_r01)*(x158))));
2043 evalcond[7]=((((new_r20)*(sj4)))+(((new_r00)*(x158)))+(((IkReal(-1.00000000000000))*(x159)))+(((new_r10)*(x157))));
2044 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 )
2051 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2052 vinfos[0].jointtype = 1;
2053 vinfos[0].foffset = j0;
2054 vinfos[0].indices[0] = _ij0[0];
2055 vinfos[0].indices[1] = _ij0[1];
2056 vinfos[0].maxsolutions = _nj0;
2057 vinfos[1].jointtype = 1;
2058 vinfos[1].foffset = j1;
2059 vinfos[1].indices[0] = _ij1[0];
2060 vinfos[1].indices[1] = _ij1[1];
2061 vinfos[1].maxsolutions = _nj1;
2062 vinfos[2].jointtype = 1;
2063 vinfos[2].foffset = j2;
2064 vinfos[2].indices[0] = _ij2[0];
2065 vinfos[2].indices[1] = _ij2[1];
2066 vinfos[2].maxsolutions = _nj2;
2067 vinfos[3].jointtype = 1;
2068 vinfos[3].foffset = j3;
2069 vinfos[3].indices[0] = _ij3[0];
2070 vinfos[3].indices[1] = _ij3[1];
2071 vinfos[3].maxsolutions = _nj3;
2072 vinfos[4].jointtype = 1;
2073 vinfos[4].foffset = j4;
2074 vinfos[4].indices[0] = _ij4[0];
2075 vinfos[4].indices[1] = _ij4[1];
2076 vinfos[4].maxsolutions = _nj4;
2077 vinfos[5].jointtype = 1;
2078 vinfos[5].foffset = j5;
2079 vinfos[5].indices[0] = _ij5[0];
2080 vinfos[5].indices[1] = _ij5[1];
2081 vinfos[5].maxsolutions = _nj5;
2082 std::vector<int> vfree(0);
2101 IkReal j3array[1], cj3array[1], sj3array[1];
2102 bool j3valid[1]={
false};
2104 IkReal x160=((gconst2)*(sj4));
2107 j3array[0]=
IKatan2(((new_r12)*(x160)), ((new_r02)*(x160)));
2108 sj3array[0]=
IKsin(j3array[0]);
2109 cj3array[0]=
IKcos(j3array[0]);
2110 if( j3array[0] >
IKPI )
2114 else if( j3array[0] < -
IKPI )
2115 { j3array[0]+=
IK2PI;
2118 for(
int ij3 = 0; ij3 < 1; ++ij3)
2124 _ij3[0] = ij3; _ij3[1] = -1;
2125 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2129 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2132 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2135 IkReal x161=
IKsin(j3);
2136 IkReal x162=
IKcos(j3);
2137 IkReal x163=((IkReal(1.00000000000000))*(cj4));
2138 IkReal x164=((new_r02)*(x162));
2139 IkReal x165=((sj4)*(x161));
2140 IkReal x166=((sj4)*(x162));
2141 IkReal x167=((new_r12)*(x161));
2142 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r02)*(x161)))+(((new_r12)*(x162))));
2143 evalcond[1]=((sj4)+(x167)+(x164));
2144 evalcond[2]=((((new_r22)*(sj4)))+(((cj4)*(x164)))+(((cj4)*(x167))));
2145 evalcond[3]=((((new_r00)*(x166)))+(((IkReal(-1.00000000000000))*(new_r20)*(x163)))+(((new_r10)*(x165))));
2146 evalcond[4]=((((IkReal(-1.00000000000000))*(new_r21)*(x163)))+(((new_r01)*(x166)))+(((new_r11)*(x165))));
2147 evalcond[5]=((IkReal(1.00000000000000))+(((new_r12)*(x165)))+(((sj4)*(x164)))+(((IkReal(-1.00000000000000))*(new_r22)*(x163))));
2148 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 )
2155 IkReal dummyeval[1];
2159 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2162 IkReal dummyeval[1];
2164 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2167 IkReal dummyeval[1];
2169 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2172 IkReal evalcond[11];
2173 IkReal x168=((cj3)*(new_r12));
2174 IkReal x169=((new_r02)*(sj3));
2175 IkReal x170=((((new_r12)*(sj3)))+(((cj3)*(new_r02))));
2176 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(((IkReal(3.14159265358979))+(j4)), IkReal(6.28318530717959))));
2177 evalcond[1]=((IkReal(-1.00000000000000))+(new_r22));
2178 evalcond[2]=new_r21;
2179 evalcond[3]=new_r20;
2180 evalcond[4]=((x168)+(((IkReal(-1.00000000000000))*(x169))));
2181 evalcond[5]=((((IkReal(-1.00000000000000))*(x168)))+(x169));
2184 evalcond[8]=((IkReal(-1.00000000000000))*(new_r20));
2185 evalcond[9]=((IkReal(-1.00000000000000))*(new_r21));
2186 evalcond[10]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22))));
2187 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 )
2190 IkReal j5array[1], cj5array[1], sj5array[1];
2191 bool j5valid[1]={
false};
2193 IkReal x171=((IkReal(1.00000000000000))*(sj3));
2196 j5array[0]=
IKatan2(((((cj3)*(new_r10)))+(((IkReal(-1.00000000000000))*(new_r00)*(x171)))), ((((IkReal(-1.00000000000000))*(new_r01)*(x171)))+(((cj3)*(new_r11)))));
2197 sj5array[0]=
IKsin(j5array[0]);
2198 cj5array[0]=
IKcos(j5array[0]);
2199 if( j5array[0] >
IKPI )
2203 else if( j5array[0] < -
IKPI )
2204 { j5array[0]+=
IK2PI;
2207 for(
int ij5 = 0; ij5 < 1; ++ij5)
2213 _ij5[0] = ij5; _ij5[1] = -1;
2214 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2218 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2221 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2224 IkReal x172=
IKsin(j5);
2225 IkReal x173=
IKcos(j5);
2226 IkReal x174=((IkReal(1.00000000000000))*(cj3));
2227 evalcond[0]=((((IkReal(-1.00000000000000))*(new_r10)*(x174)))+(x172)+(((new_r00)*(sj3))));
2228 evalcond[1]=((x173)+(((IkReal(-1.00000000000000))*(new_r11)*(x174)))+(((new_r01)*(sj3))));
2229 evalcond[2]=((x172)+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2230 evalcond[3]=((((IkReal(-1.00000000000000))*(x173)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2231 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
2238 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2239 vinfos[0].jointtype = 1;
2240 vinfos[0].foffset = j0;
2241 vinfos[0].indices[0] = _ij0[0];
2242 vinfos[0].indices[1] = _ij0[1];
2243 vinfos[0].maxsolutions = _nj0;
2244 vinfos[1].jointtype = 1;
2245 vinfos[1].foffset = j1;
2246 vinfos[1].indices[0] = _ij1[0];
2247 vinfos[1].indices[1] = _ij1[1];
2248 vinfos[1].maxsolutions = _nj1;
2249 vinfos[2].jointtype = 1;
2250 vinfos[2].foffset = j2;
2251 vinfos[2].indices[0] = _ij2[0];
2252 vinfos[2].indices[1] = _ij2[1];
2253 vinfos[2].maxsolutions = _nj2;
2254 vinfos[3].jointtype = 1;
2255 vinfos[3].foffset = j3;
2256 vinfos[3].indices[0] = _ij3[0];
2257 vinfos[3].indices[1] = _ij3[1];
2258 vinfos[3].maxsolutions = _nj3;
2259 vinfos[4].jointtype = 1;
2260 vinfos[4].foffset = j4;
2261 vinfos[4].indices[0] = _ij4[0];
2262 vinfos[4].indices[1] = _ij4[1];
2263 vinfos[4].maxsolutions = _nj4;
2264 vinfos[5].jointtype = 1;
2265 vinfos[5].foffset = j5;
2266 vinfos[5].indices[0] = _ij5[0];
2267 vinfos[5].indices[1] = _ij5[1];
2268 vinfos[5].maxsolutions = _nj5;
2269 std::vector<int> vfree(0);
2277 IkReal x175=((IkReal(1.00000000000000))+(new_r22));
2278 IkReal x176=((cj3)*(new_r12));
2279 IkReal x177=((new_r12)*(sj3));
2280 IkReal x178=((new_r02)*(sj3));
2281 IkReal x179=((cj3)*(new_r02));
2282 evalcond[0]=((IkReal(-3.14159265358979))+(
IKfmod(j4, IkReal(6.28318530717959))));
2284 evalcond[2]=new_r21;
2285 evalcond[3]=new_r20;
2286 evalcond[4]=((x176)+(((IkReal(-1.00000000000000))*(x178))));
2287 evalcond[5]=((x178)+(((IkReal(-1.00000000000000))*(x176))));
2288 evalcond[6]=((x179)+(x177));
2289 evalcond[7]=((((IkReal(-1.00000000000000))*(x179)))+(((IkReal(-1.00000000000000))*(x177))));
2290 evalcond[8]=new_r20;
2291 evalcond[9]=new_r21;
2293 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 )
2296 IkReal j5array[1], cj5array[1], sj5array[1];
2297 bool j5valid[1]={
false};
2299 IkReal x180=((IkReal(1.00000000000000))*(sj3));
2302 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(x180)))+(((cj3)*(new_r10)))), ((((IkReal(-1.00000000000000))*(new_r01)*(x180)))+(((cj3)*(new_r11)))));
2303 sj5array[0]=
IKsin(j5array[0]);
2304 cj5array[0]=
IKcos(j5array[0]);
2305 if( j5array[0] >
IKPI )
2309 else if( j5array[0] < -
IKPI )
2310 { j5array[0]+=
IK2PI;
2313 for(
int ij5 = 0; ij5 < 1; ++ij5)
2319 _ij5[0] = ij5; _ij5[1] = -1;
2320 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2324 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2327 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2330 IkReal x181=
IKsin(j5);
2331 IkReal x182=
IKcos(j5);
2332 IkReal x183=((IkReal(1.00000000000000))*(cj3));
2333 evalcond[0]=((x181)+(((IkReal(-1.00000000000000))*(new_r10)*(x183)))+(((new_r00)*(sj3))));
2334 evalcond[1]=((((IkReal(-1.00000000000000))*(new_r11)*(x183)))+(x182)+(((new_r01)*(sj3))));
2335 evalcond[2]=((((new_r11)*(sj3)))+(((IkReal(-1.00000000000000))*(x181)))+(((cj3)*(new_r01))));
2336 evalcond[3]=((x182)+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2337 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 ||
IKabs(evalcond[2]) > 0.000001 ||
IKabs(evalcond[3]) > 0.000001 )
2344 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2345 vinfos[0].jointtype = 1;
2346 vinfos[0].foffset = j0;
2347 vinfos[0].indices[0] = _ij0[0];
2348 vinfos[0].indices[1] = _ij0[1];
2349 vinfos[0].maxsolutions = _nj0;
2350 vinfos[1].jointtype = 1;
2351 vinfos[1].foffset = j1;
2352 vinfos[1].indices[0] = _ij1[0];
2353 vinfos[1].indices[1] = _ij1[1];
2354 vinfos[1].maxsolutions = _nj1;
2355 vinfos[2].jointtype = 1;
2356 vinfos[2].foffset = j2;
2357 vinfos[2].indices[0] = _ij2[0];
2358 vinfos[2].indices[1] = _ij2[1];
2359 vinfos[2].maxsolutions = _nj2;
2360 vinfos[3].jointtype = 1;
2361 vinfos[3].foffset = j3;
2362 vinfos[3].indices[0] = _ij3[0];
2363 vinfos[3].indices[1] = _ij3[1];
2364 vinfos[3].maxsolutions = _nj3;
2365 vinfos[4].jointtype = 1;
2366 vinfos[4].foffset = j4;
2367 vinfos[4].indices[0] = _ij4[0];
2368 vinfos[4].indices[1] = _ij4[1];
2369 vinfos[4].maxsolutions = _nj4;
2370 vinfos[5].jointtype = 1;
2371 vinfos[5].foffset = j5;
2372 vinfos[5].indices[0] = _ij5[0];
2373 vinfos[5].indices[1] = _ij5[1];
2374 vinfos[5].maxsolutions = _nj5;
2375 std::vector<int> vfree(0);
2397 IkReal j5array[1], cj5array[1], sj5array[1];
2398 bool j5valid[1]={
false};
2402 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)))));
2403 sj5array[0]=
IKsin(j5array[0]);
2404 cj5array[0]=
IKcos(j5array[0]);
2405 if( j5array[0] >
IKPI )
2409 else if( j5array[0] < -
IKPI )
2410 { j5array[0]+=
IK2PI;
2413 for(
int ij5 = 0; ij5 < 1; ++ij5)
2419 _ij5[0] = ij5; _ij5[1] = -1;
2420 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2424 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2427 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2430 IkReal x184=
IKsin(j5);
2431 IkReal x185=
IKcos(j5);
2432 IkReal x186=((IkReal(1.00000000000000))*(cj3));
2433 IkReal x187=((cj4)*(sj3));
2434 IkReal x188=((cj3)*(cj4));
2435 IkReal x189=((IkReal(1.00000000000000))*(x185));
2436 evalcond[0]=((new_r21)+(((sj4)*(x184))));
2437 evalcond[1]=((((IkReal(-1.00000000000000))*(sj4)*(x189)))+(new_r20));
2438 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x186)))+(x184)+(((new_r00)*(sj3))));
2439 evalcond[3]=((x185)+(((new_r01)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r11)*(x186))));
2440 evalcond[4]=((((cj4)*(x184)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2441 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x189)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2442 evalcond[6]=((((new_r11)*(x187)))+(((new_r21)*(sj4)))+(x184)+(((new_r01)*(x188))));
2443 evalcond[7]=((((IkReal(-1.00000000000000))*(x189)))+(((new_r20)*(sj4)))+(((new_r10)*(x187)))+(((new_r00)*(x188))));
2444 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 )
2451 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2452 vinfos[0].jointtype = 1;
2453 vinfos[0].foffset = j0;
2454 vinfos[0].indices[0] = _ij0[0];
2455 vinfos[0].indices[1] = _ij0[1];
2456 vinfos[0].maxsolutions = _nj0;
2457 vinfos[1].jointtype = 1;
2458 vinfos[1].foffset = j1;
2459 vinfos[1].indices[0] = _ij1[0];
2460 vinfos[1].indices[1] = _ij1[1];
2461 vinfos[1].maxsolutions = _nj1;
2462 vinfos[2].jointtype = 1;
2463 vinfos[2].foffset = j2;
2464 vinfos[2].indices[0] = _ij2[0];
2465 vinfos[2].indices[1] = _ij2[1];
2466 vinfos[2].maxsolutions = _nj2;
2467 vinfos[3].jointtype = 1;
2468 vinfos[3].foffset = j3;
2469 vinfos[3].indices[0] = _ij3[0];
2470 vinfos[3].indices[1] = _ij3[1];
2471 vinfos[3].maxsolutions = _nj3;
2472 vinfos[4].jointtype = 1;
2473 vinfos[4].foffset = j4;
2474 vinfos[4].indices[0] = _ij4[0];
2475 vinfos[4].indices[1] = _ij4[1];
2476 vinfos[4].maxsolutions = _nj4;
2477 vinfos[5].jointtype = 1;
2478 vinfos[5].foffset = j5;
2479 vinfos[5].indices[0] = _ij5[0];
2480 vinfos[5].indices[1] = _ij5[1];
2481 vinfos[5].maxsolutions = _nj5;
2482 std::vector<int> vfree(0);
2495 IkReal j5array[1], cj5array[1], sj5array[1];
2496 bool j5valid[1]={
false};
2500 j5array[0]=
IKatan2(((((IkReal(-1.00000000000000))*(new_r00)*(sj3)))+(((cj3)*(new_r10)))), ((new_r20)*(((
IKabs(sj4) != 0)?((IkReal)1/(sj4)):(IkReal)1.0e30))));
2501 sj5array[0]=
IKsin(j5array[0]);
2502 cj5array[0]=
IKcos(j5array[0]);
2503 if( j5array[0] >
IKPI )
2507 else if( j5array[0] < -
IKPI )
2508 { j5array[0]+=
IK2PI;
2511 for(
int ij5 = 0; ij5 < 1; ++ij5)
2517 _ij5[0] = ij5; _ij5[1] = -1;
2518 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2522 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2525 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2528 IkReal x190=
IKsin(j5);
2529 IkReal x191=
IKcos(j5);
2530 IkReal x192=((IkReal(1.00000000000000))*(cj3));
2531 IkReal x193=((cj4)*(sj3));
2532 IkReal x194=((cj3)*(cj4));
2533 IkReal x195=((IkReal(1.00000000000000))*(x191));
2534 evalcond[0]=((new_r21)+(((sj4)*(x190))));
2535 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x195))));
2536 evalcond[2]=((x190)+(((IkReal(-1.00000000000000))*(new_r10)*(x192)))+(((new_r00)*(sj3))));
2537 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x192)))+(x191)+(((new_r01)*(sj3))));
2538 evalcond[4]=((((cj4)*(x190)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2539 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x195)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2540 evalcond[6]=((((new_r21)*(sj4)))+(x190)+(((new_r01)*(x194)))+(((new_r11)*(x193))));
2541 evalcond[7]=((((new_r00)*(x194)))+(((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(x195)))+(((new_r10)*(x193))));
2542 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 )
2549 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2550 vinfos[0].jointtype = 1;
2551 vinfos[0].foffset = j0;
2552 vinfos[0].indices[0] = _ij0[0];
2553 vinfos[0].indices[1] = _ij0[1];
2554 vinfos[0].maxsolutions = _nj0;
2555 vinfos[1].jointtype = 1;
2556 vinfos[1].foffset = j1;
2557 vinfos[1].indices[0] = _ij1[0];
2558 vinfos[1].indices[1] = _ij1[1];
2559 vinfos[1].maxsolutions = _nj1;
2560 vinfos[2].jointtype = 1;
2561 vinfos[2].foffset = j2;
2562 vinfos[2].indices[0] = _ij2[0];
2563 vinfos[2].indices[1] = _ij2[1];
2564 vinfos[2].maxsolutions = _nj2;
2565 vinfos[3].jointtype = 1;
2566 vinfos[3].foffset = j3;
2567 vinfos[3].indices[0] = _ij3[0];
2568 vinfos[3].indices[1] = _ij3[1];
2569 vinfos[3].maxsolutions = _nj3;
2570 vinfos[4].jointtype = 1;
2571 vinfos[4].foffset = j4;
2572 vinfos[4].indices[0] = _ij4[0];
2573 vinfos[4].indices[1] = _ij4[1];
2574 vinfos[4].maxsolutions = _nj4;
2575 vinfos[5].jointtype = 1;
2576 vinfos[5].foffset = j5;
2577 vinfos[5].indices[0] = _ij5[0];
2578 vinfos[5].indices[1] = _ij5[1];
2579 vinfos[5].maxsolutions = _nj5;
2580 std::vector<int> vfree(0);
2593 IkReal j5array[1], cj5array[1], sj5array[1];
2594 bool j5valid[1]={
false};
2598 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst5)*(new_r21)), ((gconst5)*(new_r20)));
2599 sj5array[0]=
IKsin(j5array[0]);
2600 cj5array[0]=
IKcos(j5array[0]);
2601 if( j5array[0] >
IKPI )
2605 else if( j5array[0] < -
IKPI )
2606 { j5array[0]+=
IK2PI;
2609 for(
int ij5 = 0; ij5 < 1; ++ij5)
2615 _ij5[0] = ij5; _ij5[1] = -1;
2616 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2620 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2623 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2626 IkReal x196=
IKsin(j5);
2627 IkReal x197=
IKcos(j5);
2628 IkReal x198=((IkReal(1.00000000000000))*(cj3));
2629 IkReal x199=((cj4)*(sj3));
2630 IkReal x200=((cj3)*(cj4));
2631 IkReal x201=((IkReal(1.00000000000000))*(x197));
2632 evalcond[0]=((new_r21)+(((sj4)*(x196))));
2633 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(x201))));
2634 evalcond[2]=((((IkReal(-1.00000000000000))*(new_r10)*(x198)))+(x196)+(((new_r00)*(sj3))));
2635 evalcond[3]=((x197)+(((new_r01)*(sj3)))+(((IkReal(-1.00000000000000))*(new_r11)*(x198))));
2636 evalcond[4]=((((cj4)*(x196)))+(((new_r11)*(sj3)))+(((cj3)*(new_r01))));
2637 evalcond[5]=((((IkReal(-1.00000000000000))*(cj4)*(x201)))+(((new_r10)*(sj3)))+(((cj3)*(new_r00))));
2638 evalcond[6]=((((new_r21)*(sj4)))+(x196)+(((new_r11)*(x199)))+(((new_r01)*(x200))));
2639 evalcond[7]=((((new_r10)*(x199)))+(((new_r20)*(sj4)))+(((new_r00)*(x200)))+(((IkReal(-1.00000000000000))*(x201))));
2640 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 )
2647 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2648 vinfos[0].jointtype = 1;
2649 vinfos[0].foffset = j0;
2650 vinfos[0].indices[0] = _ij0[0];
2651 vinfos[0].indices[1] = _ij0[1];
2652 vinfos[0].maxsolutions = _nj0;
2653 vinfos[1].jointtype = 1;
2654 vinfos[1].foffset = j1;
2655 vinfos[1].indices[0] = _ij1[0];
2656 vinfos[1].indices[1] = _ij1[1];
2657 vinfos[1].maxsolutions = _nj1;
2658 vinfos[2].jointtype = 1;
2659 vinfos[2].foffset = j2;
2660 vinfos[2].indices[0] = _ij2[0];
2661 vinfos[2].indices[1] = _ij2[1];
2662 vinfos[2].maxsolutions = _nj2;
2663 vinfos[3].jointtype = 1;
2664 vinfos[3].foffset = j3;
2665 vinfos[3].indices[0] = _ij3[0];
2666 vinfos[3].indices[1] = _ij3[1];
2667 vinfos[3].maxsolutions = _nj3;
2668 vinfos[4].jointtype = 1;
2669 vinfos[4].foffset = j4;
2670 vinfos[4].indices[0] = _ij4[0];
2671 vinfos[4].indices[1] = _ij4[1];
2672 vinfos[4].maxsolutions = _nj4;
2673 vinfos[5].jointtype = 1;
2674 vinfos[5].foffset = j5;
2675 vinfos[5].indices[0] = _ij5[0];
2676 vinfos[5].indices[1] = _ij5[1];
2677 vinfos[5].maxsolutions = _nj5;
2678 std::vector<int> vfree(0);
2697 IkReal j5array[1], cj5array[1], sj5array[1];
2698 bool j5valid[1]={
false};
2702 j5array[0]=
IKatan2(((IkReal(-1.00000000000000))*(gconst4)*(new_r21)), ((gconst4)*(new_r20)));
2703 sj5array[0]=
IKsin(j5array[0]);
2704 cj5array[0]=
IKcos(j5array[0]);
2705 if( j5array[0] >
IKPI )
2709 else if( j5array[0] < -
IKPI )
2710 { j5array[0]+=
IK2PI;
2713 for(
int ij5 = 0; ij5 < 1; ++ij5)
2719 _ij5[0] = ij5; _ij5[1] = -1;
2720 for(
int iij5 = ij5+1; iij5 < 1; ++iij5)
2724 j5valid[iij5]=
false; _ij5[1] = iij5;
break;
2727 j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
2730 evalcond[0]=((new_r21)+(((sj4)*(
IKsin(j5)))));
2731 evalcond[1]=((new_r20)+(((IkReal(-1.00000000000000))*(sj4)*(
IKcos(j5)))));
2732 if(
IKabs(evalcond[0]) > 0.000001 ||
IKabs(evalcond[1]) > 0.000001 )
2739 IkReal dummyeval[1];
2741 gconst7=
IKsign(((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10)))));
2742 dummyeval[0]=((((IkReal(-1.00000000000000))*(new_r00)*(new_r12)))+(((new_r02)*(new_r10))));
2743 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2746 IkReal dummyeval[1];
2748 gconst6=
IKsign(((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12))))));
2749 dummyeval[0]=((((IkReal(-1.00000000000000))*((new_r02)*(new_r02))))+(((IkReal(-1.00000000000000))*((new_r12)*(new_r12)))));
2750 if(
IKabs(dummyeval[0]) < 0.0000010000000000 )
2757 IkReal j3array[1], cj3array[1], sj3array[1];
2758 bool j3valid[1]={
false};
2760 IkReal x202=((gconst6)*(sj4));
2763 j3array[0]=
IKatan2(((new_r12)*(x202)), ((new_r02)*(x202)));
2764 sj3array[0]=
IKsin(j3array[0]);
2765 cj3array[0]=
IKcos(j3array[0]);
2766 if( j3array[0] >
IKPI )
2770 else if( j3array[0] < -
IKPI )
2771 { j3array[0]+=
IK2PI;
2774 for(
int ij3 = 0; ij3 < 1; ++ij3)
2780 _ij3[0] = ij3; _ij3[1] = -1;
2781 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2785 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2788 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2790 IkReal evalcond[12];
2791 IkReal x203=
IKsin(j3);
2792 IkReal x204=
IKcos(j3);
2793 IkReal x205=((IkReal(1.00000000000000))*(cj4));
2794 IkReal x206=((cj4)*(x204));
2795 IkReal x207=((IkReal(1.00000000000000))*(x204));
2796 IkReal x208=((sj4)*(x204));
2797 IkReal x209=((cj4)*(x203));
2798 IkReal x210=((new_r11)*(x203));
2799 IkReal x211=((sj4)*(x203));
2800 evalcond[0]=((((new_r12)*(x204)))+(((IkReal(-1.00000000000000))*(new_r02)*(x203))));
2801 evalcond[1]=((((new_r12)*(x203)))+(sj4)+(((new_r02)*(x204))));
2802 evalcond[2]=((((new_r00)*(x203)))+(sj5)+(((IkReal(-1.00000000000000))*(new_r10)*(x207))));
2803 evalcond[3]=((((new_r01)*(x203)))+(cj5)+(((IkReal(-1.00000000000000))*(new_r11)*(x207))));
2804 evalcond[4]=((x210)+(((new_r01)*(x204)))+(((cj4)*(sj5))));
2805 evalcond[5]=((((new_r00)*(x204)))+(((new_r10)*(x203)))+(((IkReal(-1.00000000000000))*(cj5)*(x205))));
2806 evalcond[6]=((((new_r22)*(sj4)))+(((new_r12)*(x209)))+(((new_r02)*(x206))));
2807 evalcond[7]=((((IkReal(-1.00000000000000))*(new_r20)*(x205)))+(((new_r10)*(x211)))+(((new_r00)*(x208))));
2808 evalcond[8]=((((new_r01)*(x208)))+(((sj4)*(x210)))+(((IkReal(-1.00000000000000))*(new_r21)*(x205))));
2809 evalcond[9]=((IkReal(1.00000000000000))+(((new_r12)*(x211)))+(((new_r02)*(x208)))+(((IkReal(-1.00000000000000))*(new_r22)*(x205))));
2810 evalcond[10]=((((new_r21)*(sj4)))+(sj5)+(((new_r01)*(x206)))+(((new_r11)*(x209))));
2811 evalcond[11]=((((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(cj5)))+(((new_r00)*(x206)))+(((new_r10)*(x209))));
2812 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 )
2819 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2820 vinfos[0].jointtype = 1;
2821 vinfos[0].foffset = j0;
2822 vinfos[0].indices[0] = _ij0[0];
2823 vinfos[0].indices[1] = _ij0[1];
2824 vinfos[0].maxsolutions = _nj0;
2825 vinfos[1].jointtype = 1;
2826 vinfos[1].foffset = j1;
2827 vinfos[1].indices[0] = _ij1[0];
2828 vinfos[1].indices[1] = _ij1[1];
2829 vinfos[1].maxsolutions = _nj1;
2830 vinfos[2].jointtype = 1;
2831 vinfos[2].foffset = j2;
2832 vinfos[2].indices[0] = _ij2[0];
2833 vinfos[2].indices[1] = _ij2[1];
2834 vinfos[2].maxsolutions = _nj2;
2835 vinfos[3].jointtype = 1;
2836 vinfos[3].foffset = j3;
2837 vinfos[3].indices[0] = _ij3[0];
2838 vinfos[3].indices[1] = _ij3[1];
2839 vinfos[3].maxsolutions = _nj3;
2840 vinfos[4].jointtype = 1;
2841 vinfos[4].foffset = j4;
2842 vinfos[4].indices[0] = _ij4[0];
2843 vinfos[4].indices[1] = _ij4[1];
2844 vinfos[4].maxsolutions = _nj4;
2845 vinfos[5].jointtype = 1;
2846 vinfos[5].foffset = j5;
2847 vinfos[5].indices[0] = _ij5[0];
2848 vinfos[5].indices[1] = _ij5[1];
2849 vinfos[5].maxsolutions = _nj5;
2850 std::vector<int> vfree(0);
2863 IkReal j3array[1], cj3array[1], sj3array[1];
2864 bool j3valid[1]={
false};
2866 IkReal x212=((gconst7)*(sj5));
2869 j3array[0]=
IKatan2(((new_r12)*(x212)), ((new_r02)*(x212)));
2870 sj3array[0]=
IKsin(j3array[0]);
2871 cj3array[0]=
IKcos(j3array[0]);
2872 if( j3array[0] >
IKPI )
2876 else if( j3array[0] < -
IKPI )
2877 { j3array[0]+=
IK2PI;
2880 for(
int ij3 = 0; ij3 < 1; ++ij3)
2886 _ij3[0] = ij3; _ij3[1] = -1;
2887 for(
int iij3 = ij3+1; iij3 < 1; ++iij3)
2891 j3valid[iij3]=
false; _ij3[1] = iij3;
break;
2894 j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
2896 IkReal evalcond[12];
2897 IkReal x213=
IKsin(j3);
2898 IkReal x214=
IKcos(j3);
2899 IkReal x215=((IkReal(1.00000000000000))*(cj4));
2900 IkReal x216=((cj4)*(x214));
2901 IkReal x217=((IkReal(1.00000000000000))*(x214));
2902 IkReal x218=((sj4)*(x214));
2903 IkReal x219=((cj4)*(x213));
2904 IkReal x220=((new_r11)*(x213));
2905 IkReal x221=((sj4)*(x213));
2906 evalcond[0]=((((new_r12)*(x214)))+(((IkReal(-1.00000000000000))*(new_r02)*(x213))));
2907 evalcond[1]=((((new_r12)*(x213)))+(sj4)+(((new_r02)*(x214))));
2908 evalcond[2]=((sj5)+(((IkReal(-1.00000000000000))*(new_r10)*(x217)))+(((new_r00)*(x213))));
2909 evalcond[3]=((((IkReal(-1.00000000000000))*(new_r11)*(x217)))+(cj5)+(((new_r01)*(x213))));
2910 evalcond[4]=((((new_r01)*(x214)))+(x220)+(((cj4)*(sj5))));
2911 evalcond[5]=((((new_r00)*(x214)))+(((IkReal(-1.00000000000000))*(cj5)*(x215)))+(((new_r10)*(x213))));
2912 evalcond[6]=((((new_r22)*(sj4)))+(((new_r12)*(x219)))+(((new_r02)*(x216))));
2913 evalcond[7]=((((new_r10)*(x221)))+(((new_r00)*(x218)))+(((IkReal(-1.00000000000000))*(new_r20)*(x215))));
2914 evalcond[8]=((((IkReal(-1.00000000000000))*(new_r21)*(x215)))+(((new_r01)*(x218)))+(((sj4)*(x220))));
2915 evalcond[9]=((IkReal(1.00000000000000))+(((IkReal(-1.00000000000000))*(new_r22)*(x215)))+(((new_r02)*(x218)))+(((new_r12)*(x221))));
2916 evalcond[10]=((((new_r21)*(sj4)))+(((new_r11)*(x219)))+(sj5)+(((new_r01)*(x216))));
2917 evalcond[11]=((((new_r20)*(sj4)))+(((IkReal(-1.00000000000000))*(cj5)))+(((new_r10)*(x219)))+(((new_r00)*(x216))));
2918 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 )
2925 std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
2926 vinfos[0].jointtype = 1;
2927 vinfos[0].foffset = j0;
2928 vinfos[0].indices[0] = _ij0[0];
2929 vinfos[0].indices[1] = _ij0[1];
2930 vinfos[0].maxsolutions = _nj0;
2931 vinfos[1].jointtype = 1;
2932 vinfos[1].foffset = j1;
2933 vinfos[1].indices[0] = _ij1[0];
2934 vinfos[1].indices[1] = _ij1[1];
2935 vinfos[1].maxsolutions = _nj1;
2936 vinfos[2].jointtype = 1;
2937 vinfos[2].foffset = j2;
2938 vinfos[2].indices[0] = _ij2[0];
2939 vinfos[2].indices[1] = _ij2[1];
2940 vinfos[2].maxsolutions = _nj2;
2941 vinfos[3].jointtype = 1;
2942 vinfos[3].foffset = j3;
2943 vinfos[3].indices[0] = _ij3[0];
2944 vinfos[3].indices[1] = _ij3[1];
2945 vinfos[3].maxsolutions = _nj3;
2946 vinfos[4].jointtype = 1;
2947 vinfos[4].foffset = j4;
2948 vinfos[4].indices[0] = _ij4[0];
2949 vinfos[4].indices[1] = _ij4[1];
2950 vinfos[4].maxsolutions = _nj4;
2951 vinfos[5].jointtype = 1;
2952 vinfos[5].foffset = j5;
2953 vinfos[5].indices[0] = _ij5[0];
2954 vinfos[5].indices[1] = _ij5[1];
2955 vinfos[5].maxsolutions = _nj5;
2956 std::vector<int> vfree(0);
2981 return solver.
ComputeIk(eetrans,eerot,pfree,solutions);
2984 IKFAST_API
const char*
GetKinematicsHash() {
return "<robot:genericrobot - fanuc_m20ia (71e32a4b18374ce0b4be1d79638e8954)>"; }
2988 #ifdef IKFAST_NAMESPACE 2992 #ifndef IKFAST_NO_MAIN 2995 #ifdef IKFAST_NAMESPACE 2996 using namespace IKFAST_NAMESPACE;
3001 printf(
"\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n" 3002 "Returns the ik solutions given the transformation of the end effector specified by\n" 3003 "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n" 3010 IkReal eerot[9],eetrans[3];
3011 eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]);
3012 eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]);
3013 eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]);
3014 for(std::size_t i = 0; i < vfree.size(); ++i)
3015 vfree[i] = atof(argv[13+i]);
3016 bool bSuccess =
ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions);
3019 fprintf(stderr,
"Failed to get ik solution\n");
3027 printf(
"sol%d (free=%d): ", (
int)i, (
int)sol.
GetFree().size());
3028 std::vector<IkReal> vsolfree(sol.
GetFree().size());
3029 sol.
GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL);
3030 for( std::size_t j = 0; j < solvalues.size(); ++j)
3031 printf(
"%.15f, ", solvalues[j]);
virtual const IkSolutionBase< T > & GetSolution(size_t index) const
returns the solution pointer
IKFAST_API int GetIkType()
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)
INLINE Rall1d< T, V, S > log(const Rall1d< T, V, S > &arg)
virtual size_t GetNumSolutions() const
returns the number of solutions stored
void dgetrf_(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
The discrete solutions are returned in this structure.
IKFAST_API const char * GetKinematicsHash()
#define IKFAST_ATAN2_MAGTHRESH
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)
IKFAST_API int GetNumFreeParameters()
void dgesv_(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
#define IKFAST_STRINGIZE(s)
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
float IKatan2(float fy, float fx)
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...
#define IKFAST_SINCOS_THRESH
IKFAST_API void ComputeFk(const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API int GetNumJoints()
INLINE Rall1d< T, V, S > sqrt(const Rall1d< T, V, S > &arg)
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)
float IKfmod(float x, float y)
int main(int argc, char **argv)
Default implementation of IkSolutionListBase.
IKFAST_API int * GetFreeParameters()
INLINE Rall1d< T, V, S > atan2(const Rall1d< T, V, S > &y, const Rall1d< T, V, S > &x)
IKFAST_API int GetIkRealSize()
void dgetri_(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
IKFAST_API bool ComputeIk(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
INLINE Rall1d< T, V, S > cos(const Rall1d< T, V, S > &arg)
IKFAST_API const char * GetIkFastVersion()
INLINE Rall1d< T, V, S > tan(const Rall1d< T, V, S > &arg)
void zgetrf_(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, 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)
manages all the solutions
#define IKFAST_SOLUTION_THRESH
INLINE Rall1d< T, V, S > sin(const Rall1d< T, V, S > &arg)
virtual size_t GetNumSolutions() const =0
returns the number of solutions stored
#define IKFAST_COMPILE_ASSERT(x)
#define IKFAST_VERSION
Header file for all ikfast c++ files/shared objects.