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

Static Public Member Functions
static void	polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)

static void	polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)

static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)

Public Attributes
unsigned char	_ij0 [2]

unsigned char	_ij1 [2]

unsigned char	_ij100 [2]

unsigned char	_ij2 [2]

unsigned char	_ij3 [2]

unsigned char	_ij5 [2]

unsigned char	_nj0

unsigned char	_nj1

unsigned char	_nj100

unsigned char	_nj2

unsigned char	_nj3

unsigned char	_nj5

IkReal	cj0

IkReal	cj1

IkReal	cj100

IkReal	cj2

IkReal	cj3

IkReal	cj5

IkReal	htj0

IkReal	htj1

IkReal	htj2

IkReal	htj3

IkReal	htj5

IkReal	j0

IkReal	j0mul

IkReal	j1

IkReal	j100

IkReal	j1mul

IkReal	j2

IkReal	j2mul

IkReal	j3

IkReal	j3mul

IkReal	j5

IkReal	j5mul

IkReal	new_px

IkReal	new_py

IkReal	new_pz

IkReal	new_r00

IkReal	new_r01

IkReal	new_r02

IkReal	npx

IkReal	npy

IkReal	npz

IkReal	pp

IkReal	px

IkReal	py

IkReal	pz

IkReal	r00

IkReal	r01

IkReal	r02

IkReal	rxp0_0

IkReal	rxp0_1

IkReal	rxp0_2

IkReal	sj0

IkReal	sj1

IkReal	sj100

IkReal	sj2

IkReal	sj3

IkReal	sj5

Detailed Description

Definition at line 347 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Member Function Documentation

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

inline

Definition at line 354 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots2	(	IkReal	rawcoeffs[2+1],
		IkReal	rawroots[2],
		int &	numroots
	)

inlinestatic

Definition at line 1970 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots3	(	IkReal	rawcoeffs[3+1],
		IkReal	rawroots[3],
		int &	numroots
	)

inlinestatic

Definition at line 1892 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

static void ikfast_kinematics_plugin::IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)

inlinestatic

Definition at line 1986 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

Member Data Documentation

unsigned char ikfast_kinematics_plugin::IKSolver::_ij0[2]

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij1[2]

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij100[2]

Definition at line 353 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_ij2[2]

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj0

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj1

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj100

Definition at line 353 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj2

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj3

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

unsigned char ikfast_kinematics_plugin::IKSolver::_nj5

Definition at line 350 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj0

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj1

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj100

Definition at line 352 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj2

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj3

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::cj5

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj0

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj1

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj2

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj3

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::htj5

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j0mul

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j100

Definition at line 352 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j1mul

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j2mul

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j3mul

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::j5mul

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_px

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_py

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_pz

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r00

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r01

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::new_r02

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npx

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npy

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::npz

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pp

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::px

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::py

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::pz

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r00

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r01

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::r02

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_0

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_1

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::rxp0_2

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj0

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj1

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj100

Definition at line 352 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj2

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj3

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

IkReal ikfast_kinematics_plugin::IKSolver::sj5

Definition at line 349 of file turtlebot_arm_arm_ikfast_moveit_plugin.cpp.

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

turtlebot_arm_arm_ikfast_moveit_plugin.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation