#include <opw_kinematics/opw_macros.h>
#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
Go to the source code of this file.
Classes | |
class | IKSolver |
Macros | |
#define | __PRETTY_FUNCTION__ __func__ |
#define | IK2PI ((IkReal)6.28318530717959) |
#define | IKFAST_ALIGNED16(x) x __attribute((aligned(16))) |
#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()); } } |
#define | IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6) |
#define | IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] |
#define | IKFAST_HAS_LIBRARY |
#define | IKFAST_SINCOS_THRESH ((IkReal)0.000001) |
#define | IKFAST_SOLUTION_THRESH ((IkReal)1e-6) |
#define | IKFAST_STRINGIZE(s) IKFAST_STRINGIZE2(s) |
#define | IKFAST_STRINGIZE2(s) #s |
#define | IKPI ((IkReal)3.14159265358979) |
#define | IKPI_2 ((IkReal)1.57079632679490) |
Functions | |
IKFAST_API void | ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot) |
IKFAST_API bool | ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions) |
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) |
void | dgesv_ (const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info) |
void | dgetrf_ (const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info) |
void | dgetri_ (const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, 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) |
IKFAST_API int * | GetFreeParameters () |
IKFAST_API const char * | GetIkFastVersion () |
IKFAST_API int | GetIkRealSize () |
IKFAST_API int | GetIkType () |
IKFAST_API const char * | GetKinematicsHash () |
IKFAST_API int | GetNumFreeParameters () |
IKFAST_API int | GetNumJoints () |
float | IKabs (float f) |
double | IKabs (double f) |
float | IKacos (float f) |
double | IKacos (double f) |
float | IKasin (float f) |
double | IKasin (double f) |
float | IKatan2 (float fy, float fx) |
double | IKatan2 (double fy, double fx) |
float | IKcos (float f) |
double | IKcos (double f) |
IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61) | |
float | IKfmod (float x, float y) |
double | IKfmod (double x, double y) |
float | IKlog (float f) |
double | IKlog (double f) |
float | IKsign (float f) |
double | IKsign (double f) |
float | IKsin (float f) |
double | IKsin (double f) |
float | IKsqr (float f) |
double | IKsqr (double f) |
float | IKsqrt (float f) |
double | IKsqrt (double f) |
float | IKtan (float f) |
double | IKtan (double f) |
int | main (int argc, char **argv) |
void | zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info) |
#define __PRETTY_FUNCTION__ __func__ |
Definition at line 51 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IK2PI ((IkReal)6.28318530717959) |
Definition at line 64 of file abb_irb2400_manipulator_ikfast_solver.cpp.
Definition at line 61 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#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()); } } |
Definition at line 54 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6) |
Definition at line 106 of file abb_irb2400_manipulator_ikfast_solver.cpp.
Definition at line 27 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKFAST_HAS_LIBRARY |
autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
ikfast version 61 generated on 2015-05-22 14:09:58.982511 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp
Definition at line 22 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKFAST_SINCOS_THRESH ((IkReal)0.000001) |
Definition at line 101 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6) |
Definition at line 111 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKFAST_STRINGIZE | ( | s | ) | IKFAST_STRINGIZE2(s) |
Definition at line 37 of file abb_irb2400_manipulator_ikfast_solver.cpp.
Definition at line 36 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKPI ((IkReal)3.14159265358979) |
Definition at line 65 of file abb_irb2400_manipulator_ikfast_solver.cpp.
#define IKPI_2 ((IkReal)1.57079632679490) |
Definition at line 66 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API void ComputeFk | ( | const IkReal * | j, |
IkReal * | eetrans, | ||
IkReal * | eerot | ||
) |
solves the forward kinematics equations.
pfree | is an array specifying the free joints of the chain. |
Definition at line 212 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API bool ComputeIk | ( | const IkReal * | eetrans, |
const IkReal * | eerot, | ||
const IkReal * | pfree, | ||
IkSolutionListBase< IkReal > & | solutions | ||
) |
solves the inverse kinematics equations.
pfree | is an array specifying the free joints of the chain. |
Definition at line 2493 of file abb_irb2400_manipulator_ikfast_solver.cpp.
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 | ||
) |
void dgesv_ | ( | const int * | n, |
const int * | nrhs, | ||
double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
double * | b, | ||
const int * | ldb, | ||
int * | info | ||
) |
void dgetrf_ | ( | const int * | m, |
const int * | n, | ||
double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
int * | info | ||
) |
void dgetri_ | ( | const int * | n, |
const double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
double * | work, | ||
const int * | lwork, | ||
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 | ||
) |
IKFAST_API int* GetFreeParameters | ( | ) |
Definition at line 284 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API const char* GetIkFastVersion | ( | ) |
Definition at line 2500 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API int GetIkRealSize | ( | ) |
Definition at line 287 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API int GetIkType | ( | ) |
Definition at line 289 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API const char* GetKinematicsHash | ( | ) |
Definition at line 2498 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API int GetNumFreeParameters | ( | ) |
Definition at line 283 of file abb_irb2400_manipulator_ikfast_solver.cpp.
IKFAST_API int GetNumJoints | ( | ) |
Definition at line 285 of file abb_irb2400_manipulator_ikfast_solver.cpp.
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IKFAST_COMPILE_ASSERT | ( | IKFAST_VERSION | = =61 | ) |
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int main | ( | int | argc, |
char ** | argv | ||
) |
Definition at line 2512 of file abb_irb2400_manipulator_ikfast_solver.cpp.
void zgetrf_ | ( | const int * | m, |
const int * | n, | ||
std::complex< double > * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
int * | info | ||
) |