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

Static Public Member Functions
static bool	checkconsistency8 (const IkReal *Breal)

static void	solvedialyticpoly8qep (const IkReal matcoeffs, IkReal rawroots, int &numroots)
	Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994) More...

Public Attributes
unsigned char	_ij3 [2]

unsigned char	_ij4 [2]

unsigned char	_ij5 [2]

unsigned char	_ij6 [2]

unsigned char	_ij7 [2]

unsigned char	_ij8 [2]

unsigned char	_nj3

unsigned char	_nj4

unsigned char	_nj5

unsigned char	_nj6

unsigned char	_nj7

unsigned char	_nj8

IkReal	cj3

IkReal	cj4

IkReal	cj5

IkReal	cj6

IkReal	cj7

IkReal	cj8

IkReal	htj3

IkReal	htj4

IkReal	htj5

IkReal	htj6

IkReal	htj7

IkReal	htj8

IkReal	j3

IkReal	j4

IkReal	j5

IkReal	j6

IkReal	j7

IkReal	j8

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	sj3

IkReal	sj4

IkReal	sj5

IkReal	sj6

IkReal	sj7

IkReal	sj8

Detailed Description

Definition at line 319 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

Member Function Documentation

static bool nextage_left_arm_ikfast_kinematics_plugin::IKSolver::checkconsistency8 ( const IkReal * Breal )

inlinestatic

Definition at line 16910 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

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

inline

Definition at line 324 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

static void nextage_left_arm_ikfast_kinematics_plugin::IKSolver::solvedialyticpoly8qep	(	const IkReal *	matcoeffs,
		IkReal *	rawroots,
		int &	numroots
	)

inlinestatic

Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)

matcoeffs is of length 54*3, for 3 matrices

Definition at line 16922 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

Member Data Documentation

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

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_ij6[2]

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_ij7[2]

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_ij8[2]

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj3

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj4

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj5

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj6

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj7

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_left_arm_ikfast_kinematics_plugin::IKSolver::_nj8

Definition at line 322 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj3

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj4

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj5

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj6

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj7

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::cj8

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj3

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj4

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj5

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj6

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj7

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::htj8

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j3

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j4

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j5

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j6

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j7

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::j8

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::npx

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::npy

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::npz

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::pp

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::px

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::py

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::pz

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r00

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r01

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r02

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r10

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r11

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r12

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r20

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r21

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::r22

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj3

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj4

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj5

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj6

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj7

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_left_arm_ikfast_kinematics_plugin::IKSolver::sj8

Definition at line 321 of file nextage_left_arm_ikfast_moveit_plugin.cpp.

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

nextage_left_arm_ikfast_moveit_plugin.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation