Classes | |
class | IKFastKinematicsPlugin |
struct | LimitObeyingSol |
Enumerations | |
enum | IkParameterizationType { IKP_None = 0, IKP_Transform6D = 0x67000001, IKP_Rotation3D = 0x34000002, IKP_Translation3D = 0x33000003, IKP_Direction3D = 0x23000004, IKP_Ray4D = 0x46000005, IKP_Lookat3D = 0x23000006, IKP_TranslationDirection5D = 0x56000007, IKP_TranslationXY2D = 0x22000008, IKP_TranslationXYOrientation3D = 0x33000009, IKP_TranslationLocalGlobal6D = 0x3600000a, IKP_TranslationXAxisAngle4D = 0x4400000b, IKP_TranslationYAxisAngle4D = 0x4400000c, IKP_TranslationZAxisAngle4D = 0x4400000d, IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, IKP_TranslationZAxisAngleYNorm4D = 0x44000010, IKP_NumberOfParameterizations = 16, IKP_VelocityDataBit, IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit, IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit, IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit, IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit, IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff, IKP_CustomDataBit = 0x00010000 } |
The types of inverse kinematics parameterizations supported. More... | |
The types of inverse kinematics parameterizations supported.
The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.
Definition at line 72 of file ikfast61_moveit_plugin_template.cpp.