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	_ij10 [2]

unsigned char	_ij11 [2]

unsigned char	_ij12 [2]

unsigned char	_ij13 [2]

unsigned char	_ij14 [2]

unsigned char	_ij9 [2]

unsigned char	_nj10

unsigned char	_nj11

unsigned char	_nj12

unsigned char	_nj13

unsigned char	_nj14

unsigned char	_nj9

IkReal	cj10

IkReal	cj11

IkReal	cj12

IkReal	cj13

IkReal	cj14

IkReal	cj9

IkReal	htj10

IkReal	htj11

IkReal	htj12

IkReal	htj13

IkReal	htj14

IkReal	htj9

IkReal	j10

IkReal	j11

IkReal	j12

IkReal	j13

IkReal	j14

IkReal	j9

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	sj10

IkReal	sj11

IkReal	sj12

IkReal	sj13

IkReal	sj14

IkReal	sj9

Detailed Description

Definition at line 315 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

Member Function Documentation

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

inlinestatic

Definition at line 17010 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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

inline

Definition at line 320 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

static void nextage_right_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 17022 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

Member Data Documentation

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij10[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij11[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij12[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij13[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij14[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_ij9[2]

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj10

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj11

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj12

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj13

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj14

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

unsigned char nextage_right_arm_ikfast_kinematics_plugin::IKSolver::_nj9

Definition at line 318 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::cj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::htj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::j9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r20

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r21

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::new_r22

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npx

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npy

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::npz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::pp

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::px

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::py

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::pz

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r00

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r01

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r02

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r20

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r21

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::r22

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp1_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_0

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_1

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::rxp2_2

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj10

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj11

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj12

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj13

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj14

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

IkReal nextage_right_arm_ikfast_kinematics_plugin::IKSolver::sj9

Definition at line 317 of file nextage_right_arm_ikfast_moveit_plugin.cpp.

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

nextage_right_arm_ikfast_moveit_plugin.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation