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

void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)

Static Public Member Functions
static void	polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)

static void	polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)

static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)

Public Attributes
unsigned char	_ij0 [2]

unsigned char	_ij1 [2]

unsigned char	_ij100 [2]

unsigned char	_ij2 [2]

unsigned char	_ij3 [2]

unsigned char	_ij4 [2]

unsigned char	_ij5 [2]

unsigned char	_nj0

unsigned char	_nj1

unsigned char	_nj100

unsigned char	_nj2

unsigned char	_nj3

unsigned char	_nj4

unsigned char	_nj5

IkReal	cj0

IkReal	cj1

IkReal	cj100

IkReal	cj2

IkReal	cj3

IkReal	cj4

IkReal	cj5

IkReal	htj0

IkReal	htj1

IkReal	htj2

IkReal	htj3

IkReal	htj4

IkReal	htj5

IkReal	j0

IkReal	j0mul

IkReal	j1

IkReal	j100

IkReal	j1mul

IkReal	j2

IkReal	j2mul

IkReal	j3

IkReal	j3mul

IkReal	j4

IkReal	j4mul

IkReal	j5

IkReal	j5mul

IkReal	new_px

IkReal	new_py

IkReal	new_pz

IkReal	new_r00

IkReal	new_r01

IkReal	new_r02

IkReal	new_r10

IkReal	new_r11

IkReal	new_r12

IkReal	new_r20

IkReal	new_r21

IkReal	new_r22

IkReal	npx

IkReal	npy

IkReal	npz

IkReal	pp

IkReal	px

IkReal	py

IkReal	pz

IkReal	r00

IkReal	r01

IkReal	r02

IkReal	r10

IkReal	r11

IkReal	r12

IkReal	r20

IkReal	r21

IkReal	r22

IkReal	rxp0_0

IkReal	rxp0_1

IkReal	rxp0_2

IkReal	rxp1_0

IkReal	rxp1_1

IkReal	rxp1_2

IkReal	rxp2_0

IkReal	rxp2_1

IkReal	rxp2_2

IkReal	sj0

IkReal	sj1

IkReal	sj100

IkReal	sj2

IkReal	sj3

IkReal	sj4

IkReal	sj5

Detailed Description

Definition at line 370 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

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

inline

Definition at line 377 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots2	(	IkReal	rawcoeffs[2+1],
		IkReal	rawroots[2],
		int &	numroots
	)

inlinestatic

Definition at line 19862 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots3	(	IkReal	rawcoeffs[3+1],
		IkReal	rawroots[3],
		int &	numroots
	)

inlinestatic

Definition at line 19784 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)

inlinestatic

Definition at line 19878 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

void ikfast_kinematics_plugin::IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > & solutions )

inline

Definition at line 817 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

Member Data Documentation

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

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 376 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij5[2]

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj0

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj1

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj100

Definition at line 376 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj2

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj3

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj4

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj5

Definition at line 373 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj100

Definition at line 375 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj3

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj4

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj5

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj3

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj4

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj5

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j100

Definition at line 375 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j4

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j4mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5mul

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npx

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npy

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npz

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pp

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::px

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::py

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pz

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r00

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r01

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r02

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r10

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r11

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r12

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r20

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r21

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r22

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj0

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj1

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj100

Definition at line 375 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj2

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj3

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj4

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj5

Definition at line 372 of file fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp.

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

fanuc_m20ib25_manipulator_ikfast_moveit_plugin.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation