#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>
#include "katana_450_6m90a_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.hpp>

Include dependency graph for katana_450_6m90a_ikfast_plugin.cpp:

Classes
class	katana_450_6m90a_kinematics::IKFastKinematicsPlugin

class	katana_450_6m90a_kinematics::IKSolver

struct	katana_450_6m90a_kinematics::LimitObeyingSol

Namespaces
	katana_450_6m90a_kinematics

Macros
#define	IKFAST_NO_MAIN

Enumerations
enum	katana_450_6m90a_kinematics::IkParameterizationType { katana_450_6m90a_kinematics::IKP_None = 0, katana_450_6m90a_kinematics::IKP_Transform6D = 0x67000001, katana_450_6m90a_kinematics::IKP_Rotation3D = 0x34000002, katana_450_6m90a_kinematics::IKP_Translation3D = 0x33000003, katana_450_6m90a_kinematics::IKP_Direction3D = 0x23000004, katana_450_6m90a_kinematics::IKP_Ray4D = 0x46000005, katana_450_6m90a_kinematics::IKP_Lookat3D = 0x23000006, katana_450_6m90a_kinematics::IKP_TranslationDirection5D = 0x56000007, katana_450_6m90a_kinematics::IKP_TranslationXY2D = 0x22000008, katana_450_6m90a_kinematics::IKP_TranslationXYOrientation3D = 0x33000009, katana_450_6m90a_kinematics::IKP_TranslationLocalGlobal6D = 0x3600000a, katana_450_6m90a_kinematics::IKP_TranslationXAxisAngle4D = 0x4400000b, katana_450_6m90a_kinematics::IKP_TranslationYAxisAngle4D = 0x4400000c, katana_450_6m90a_kinematics::IKP_TranslationZAxisAngle4D = 0x4400000d, katana_450_6m90a_kinematics::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, katana_450_6m90a_kinematics::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, katana_450_6m90a_kinematics::IKP_TranslationZAxisAngleYNorm4D = 0x44000010, katana_450_6m90a_kinematics::IKP_NumberOfParameterizations = 16, katana_450_6m90a_kinematics::IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Transform6DVelocity = IKP_Transform6D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Rotation3DVelocity = IKP_Rotation3D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Translation3DVelocity = IKP_Translation3D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Direction3DVelocity = IKP_Direction3D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Ray4DVelocity = IKP_Ray4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_Lookat3DVelocity = IKP_Lookat3D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D \| IKP_VelocityDataBit, katana_450_6m90a_kinematics::IKP_UniqueIdMask = 0x0000ffff, katana_450_6m90a_kinematics::IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

enum	SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1, OPTIMIZE_MAX_JOINT = 2 }
	Search modes for searchPositionIK(), see there. More...

Functions
IKFAST_API void	katana_450_6m90a_kinematics::ComputeFk (const IkReal j, IkReal eetrans, IkReal *eerot)

IKFAST_API bool	katana_450_6m90a_kinematics::ComputeIk (const IkReal eetrans, const IkReal eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)

void	katana_450_6m90a_kinematics::dgeev_ (const char jobvl, const char jobvr, const int n, double a, const int lda, double wr, double wi, double vl, const int ldvl, double vr, const int ldvr, double work, const int lwork, int info)

void	katana_450_6m90a_kinematics::dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)

void	katana_450_6m90a_kinematics::dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)

void	katana_450_6m90a_kinematics::dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)

void	katana_450_6m90a_kinematics::dgetrs_ (const char trans, const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int *info)

IKFAST_API int *	katana_450_6m90a_kinematics::GetFreeParameters ()

IKFAST_API const char *	katana_450_6m90a_kinematics::GetIkFastVersion ()

IKFAST_API int	katana_450_6m90a_kinematics::GetIkRealSize ()

IKFAST_API int	katana_450_6m90a_kinematics::GetIkType ()

IKFAST_API const char *	katana_450_6m90a_kinematics::GetKinematicsHash ()

IKFAST_API int	katana_450_6m90a_kinematics::GetNumFreeParameters ()

IKFAST_API int	katana_450_6m90a_kinematics::GetNumJoints ()

float	katana_450_6m90a_kinematics::IKabs (float f)

double	katana_450_6m90a_kinematics::IKabs (double f)

float	katana_450_6m90a_kinematics::IKacos (float f)

double	katana_450_6m90a_kinematics::IKacos (double f)

float	katana_450_6m90a_kinematics::IKasin (float f)

double	katana_450_6m90a_kinematics::IKasin (double f)

float	katana_450_6m90a_kinematics::IKatan2 (float fy, float fx)

double	katana_450_6m90a_kinematics::IKatan2 (double fy, double fx)

float	katana_450_6m90a_kinematics::IKcos (float f)

double	katana_450_6m90a_kinematics::IKcos (double f)

	katana_450_6m90a_kinematics::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)

float	katana_450_6m90a_kinematics::IKfmod (float x, float y)

double	katana_450_6m90a_kinematics::IKfmod (double x, double y)

float	katana_450_6m90a_kinematics::IKlog (float f)

double	katana_450_6m90a_kinematics::IKlog (double f)

float	katana_450_6m90a_kinematics::IKsign (float f)

double	katana_450_6m90a_kinematics::IKsign (double f)

float	katana_450_6m90a_kinematics::IKsin (float f)

double	katana_450_6m90a_kinematics::IKsin (double f)

float	katana_450_6m90a_kinematics::IKsqr (float f)

double	katana_450_6m90a_kinematics::IKsqr (double f)

float	katana_450_6m90a_kinematics::IKsqrt (float f)

double	katana_450_6m90a_kinematics::IKsqrt (double f)

float	katana_450_6m90a_kinematics::IKtan (float f)

double	katana_450_6m90a_kinematics::IKtan (double f)

	PLUGINLIB_EXPORT_CLASS (katana_450_6m90a_kinematics::IKFastKinematicsPlugin, kinematics::KinematicsBase)

void	katana_450_6m90a_kinematics::zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)