#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>

Include dependency graph for prbt_manipulator_ikfast_solver.cpp:

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Classes
struct	CheckValue< T >

class	IKSolver

Macros
#define	__PRETTY_FUNCTION__ __func__

#define	__PRETTY_FUNCTION__ __func__

#define	IK2PI ((IkReal)6.28318530717959)

#define	IK2PI ((IkReal)6.28318530717959)

#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))

#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_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)1e-7)

#define	IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)

#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]

#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]

#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

#define	IKFAST_HAS_LIBRARY

#define	IKFAST_HAS_LIBRARY

#define	IKFAST_SINCOS_THRESH ((IkReal)1e-7)

#define	IKFAST_SINCOS_THRESH ((IkReal)1e-7)

#define	IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

#define	IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI_2 ((IkReal)1.57079632679490)

#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)

IKFAST_API bool	ComputeIk2 (const IkReal eetrans, const IkReal eerot, const IkReal pfree, IkSolutionListBase< IkReal > &solutions, void pOpenRAVEManip)

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	IKatan2Simple (float fy, float fx)

double	IKatan2Simple (double fy, double fx)

template<typename T >
CheckValue< T >	IKatan2WithCheck (T fy, T fx, T epsilon)

float	IKcos (float f)

double	IKcos (double f)

	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x1000004a)

float	IKfmod (float x, float y)

double	IKfmod (double x, double y)

float	IKlog (float f)

double	IKlog (double f)

template<typename T >
CheckValue< T >	IKPowWithIntegerCheck (T f, int n)

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)

Macro Definition Documentation

#define __PRETTY_FUNCTION__ __func__

Definition at line 50 of file prbt_manipulator_ikfast_solver.cpp.

#define IK2PI ((IkReal)6.28318530717959)

Definition at line 63 of file prbt_manipulator_ikfast_solver.cpp.

#define IK2PI ((IkReal)6.28318530717959)

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

Definition at line 60 of file prbt_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 53 of file prbt_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()); } }

#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)

Definition at line 111 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_COMPILE_ASSERT ( x ) extern int __dummy[(int)x]

Definition at line 29 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Definition at line 121 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_HAS_LIBRARY

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author: Rosen Diankov

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 0x1000004a generated on 2018-02-13 15:06:40.059924 Generated using solver transform6d 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 24 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)

Definition at line 106 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)

#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

Definition at line 116 of file prbt_manipulator_ikfast_solver.cpp.

#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

#define IKPI ((IkReal)3.14159265358979)

Definition at line 64 of file prbt_manipulator_ikfast_solver.cpp.

#define IKPI_2 ((IkReal)1.57079632679490)

Definition at line 65 of file prbt_manipulator_ikfast_solver.cpp.

#define IKPI_2 ((IkReal)1.57079632679490)

Function Documentation

IKFAST_API void ComputeFk	(	const IkReal *	j,
		IkReal *	eetrans,
		IkReal *	eerot
	)

solves the forward kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 303 of file prbt_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.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 20064 of file prbt_manipulator_ikfast_solver.cpp.

IKFAST_API bool ComputeIk2	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions,
		void *	pOpenRAVEManip
	)

Definition at line 20069 of file prbt_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
	)