IKSolver Class Reference

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 413 of file motoman_mh5_manipulator_ikfast_solver.cpp.

Member Function Documentation

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

inline

Definition at line 426 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

inlinestatic

Definition at line 51346 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

inlinestatic

Definition at line 51264 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

inlinestatic

Definition at line 51363 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

inline

Definition at line 1106 of file motoman_mh5_manipulator_ikfast_solver.cpp.

Member Data Documentation

unsigned char IKSolver::_ij0[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij1[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij100[2]

Definition at line 425 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij2[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij3[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij4[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij5[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj0

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj1

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj100

Definition at line 425 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj2

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj3

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj4

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj5

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j0mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j1mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j2mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j3mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j4mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j5mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_px

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_py

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_pz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r00

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r01

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r02

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r10

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r11

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r12

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r20

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r21

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r22

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npx

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npy

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::pp

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::px

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::py

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::pz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r00

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r01

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r02

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r10

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r11

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r12

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r20

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r21

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r22

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

---

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

• motoman_mh5_manipulator_ikfast_solver.cpp