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

void	rotationfunction0 (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)

static void	polyroots5 (IkReal rawcoeffs[5+1], IkReal rawroots[5], int &numroots)

static void	polyroots6 (IkReal rawcoeffs[6+1], IkReal rawroots[6], int &numroots)

static void	polyroots7 (IkReal rawcoeffs[7+1], IkReal rawroots[7], int &numroots)

static void	polyroots8 (IkReal rawcoeffs[8+1], IkReal rawroots[8], int &numroots)

Public Attributes
unsigned char	_ij10 [2]

unsigned char	_ij100 [2]

unsigned char	_ij11 [2]

unsigned char	_ij12 [2]

unsigned char	_ij6 [2]

unsigned char	_ij7 [2]

unsigned char	_ij8 [2]

unsigned char	_ij9 [2]

unsigned char	_nj10

unsigned char	_nj100

unsigned char	_nj11

unsigned char	_nj12

unsigned char	_nj6

unsigned char	_nj7

unsigned char	_nj8

unsigned char	_nj9

IkReal	cj10

IkReal	cj100

IkReal	cj11

IkReal	cj12

IkReal	cj6

IkReal	cj7

IkReal	cj8

IkReal	cj9

IkReal	htj10

IkReal	htj11

IkReal	htj12

IkReal	htj6

IkReal	htj7

IkReal	htj8

IkReal	htj9

IkReal	j10

IkReal	j100

IkReal	j10mul

IkReal	j11

IkReal	j11mul

IkReal	j12

IkReal	j12mul

IkReal	j6

IkReal	j7

IkReal	j7mul

IkReal	j8

IkReal	j8mul

IkReal	j9

IkReal	j9mul

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	sj100

IkReal	sj11

IkReal	sj12

IkReal	sj6

IkReal	sj7

IkReal	sj8

IkReal	sj9

Detailed Description

Definition at line 383 of file fetch_arm_ikfast_solver.cpp.

Member Function Documentation

◆ ComputeIk()

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

inline

Definition at line 390 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots2()

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

inlinestatic

Definition at line 17026 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots3()

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

inlinestatic

Definition at line 16948 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots4()

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

inlinestatic

Definition at line 17120 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots5()

static void IKSolver::polyroots5	(	IkReal	rawcoeffs[5+1],
		IkReal	rawroots[5],
		int &	numroots
	)

inlinestatic

Definition at line 17042 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots6()

static void IKSolver::polyroots6	(	IkReal	rawcoeffs[6+1],
		IkReal	rawroots[6],
		int &	numroots
	)

inlinestatic

Definition at line 17276 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots7()

static void IKSolver::polyroots7	(	IkReal	rawcoeffs[7+1],
		IkReal	rawroots[7],
		int &	numroots
	)

inlinestatic

Definition at line 17198 of file fetch_arm_ikfast_solver.cpp.

◆ polyroots8()

static void IKSolver::polyroots8	(	IkReal	rawcoeffs[8+1],
		IkReal	rawroots[8],
		int &	numroots
	)

inlinestatic

Definition at line 17354 of file fetch_arm_ikfast_solver.cpp.

◆ rotationfunction0()

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > & solutions )

inline

Definition at line 7468 of file fetch_arm_ikfast_solver.cpp.

Member Data Documentation

◆ _ij10

unsigned char IKSolver::_ij10[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij100

unsigned char IKSolver::_ij100[2]

Definition at line 389 of file fetch_arm_ikfast_solver.cpp.

◆ _ij11

unsigned char IKSolver::_ij11[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij12

unsigned char IKSolver::_ij12[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij6

unsigned char IKSolver::_ij6[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij7

unsigned char IKSolver::_ij7[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij8

unsigned char IKSolver::_ij8[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _ij9

unsigned char IKSolver::_ij9[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj10

unsigned char IKSolver::_nj10

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj100

unsigned char IKSolver::_nj100

Definition at line 389 of file fetch_arm_ikfast_solver.cpp.

◆ _nj11

unsigned char IKSolver::_nj11

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj12

unsigned char IKSolver::_nj12

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj6

unsigned char IKSolver::_nj6

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj7

unsigned char IKSolver::_nj7

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj8

unsigned char IKSolver::_nj8

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ _nj9

unsigned char IKSolver::_nj9

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

◆ cj10

IkReal IKSolver::cj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj100

IkReal IKSolver::cj100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

◆ cj11

IkReal IKSolver::cj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj12

IkReal IKSolver::cj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj6

IkReal IKSolver::cj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj7

IkReal IKSolver::cj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj8

IkReal IKSolver::cj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ cj9

IkReal IKSolver::cj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj10

IkReal IKSolver::htj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj11

IkReal IKSolver::htj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj12

IkReal IKSolver::htj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj6

IkReal IKSolver::htj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj7

IkReal IKSolver::htj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj8

IkReal IKSolver::htj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ htj9

IkReal IKSolver::htj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j10

IkReal IKSolver::j10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j100

IkReal IKSolver::j100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

◆ j10mul

IkReal IKSolver::j10mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j11

IkReal IKSolver::j11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j11mul

IkReal IKSolver::j11mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j12

IkReal IKSolver::j12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j12mul

IkReal IKSolver::j12mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j6

IkReal IKSolver::j6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j7

IkReal IKSolver::j7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j7mul

IkReal IKSolver::j7mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j8

IkReal IKSolver::j8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j8mul

IkReal IKSolver::j8mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j9

IkReal IKSolver::j9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ j9mul

IkReal IKSolver::j9mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_px

IkReal IKSolver::new_px

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_py

IkReal IKSolver::new_py

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_pz

IkReal IKSolver::new_pz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r00

IkReal IKSolver::new_r00

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r01

IkReal IKSolver::new_r01

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r02

IkReal IKSolver::new_r02

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r10

IkReal IKSolver::new_r10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r11

IkReal IKSolver::new_r11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r12

IkReal IKSolver::new_r12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r20

IkReal IKSolver::new_r20

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r21

IkReal IKSolver::new_r21

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ new_r22

IkReal IKSolver::new_r22

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ npx

IkReal IKSolver::npx

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ npy

IkReal IKSolver::npy

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ npz

IkReal IKSolver::npz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ pp

IkReal IKSolver::pp

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ px

IkReal IKSolver::px

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ py

IkReal IKSolver::py

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ pz

IkReal IKSolver::pz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r00

IkReal IKSolver::r00

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r01

IkReal IKSolver::r01

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r02

IkReal IKSolver::r02

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r10

IkReal IKSolver::r10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r11

IkReal IKSolver::r11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r12

IkReal IKSolver::r12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r20

IkReal IKSolver::r20

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r21

IkReal IKSolver::r21

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ r22

IkReal IKSolver::r22

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp0_0

IkReal IKSolver::rxp0_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp0_1

IkReal IKSolver::rxp0_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp0_2

IkReal IKSolver::rxp0_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp1_0

IkReal IKSolver::rxp1_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp1_1

IkReal IKSolver::rxp1_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp1_2

IkReal IKSolver::rxp1_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp2_0

IkReal IKSolver::rxp2_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp2_1

IkReal IKSolver::rxp2_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ rxp2_2

IkReal IKSolver::rxp2_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj10

IkReal IKSolver::sj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj100

IkReal IKSolver::sj100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

◆ sj11

IkReal IKSolver::sj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj12

IkReal IKSolver::sj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj6

IkReal IKSolver::sj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj7

IkReal IKSolver::sj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj8

IkReal IKSolver::sj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

◆ sj9

IkReal IKSolver::sj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

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

fetch_arm_ikfast_solver.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ ComputeIk()

◆ polyroots2()

◆ polyroots3()

◆ polyroots4()

◆ polyroots5()

◆ polyroots6()

◆ polyroots7()

◆ polyroots8()

◆ rotationfunction0()

Member Data Documentation

◆ _ij10

◆ _ij100

◆ _ij11

◆ _ij12

◆ _ij6

◆ _ij7

◆ _ij8

◆ _ij9

◆ _nj10

◆ _nj100

◆ _nj11

◆ _nj12

◆ _nj6

◆ _nj7

◆ _nj8

◆ _nj9

◆ cj10

◆ cj100

◆ cj11

◆ cj12

◆ cj6

◆ cj7

◆ cj8

◆ cj9

◆ htj10

◆ htj11

◆ htj12

◆ htj6

◆ htj7

◆ htj8

◆ htj9

◆ j10

◆ j100

◆ j10mul

◆ j11

◆ j11mul

◆ j12

◆ j12mul

◆ j6

◆ j7

◆ j7mul

◆ j8

◆ j8mul

◆ j9

◆ j9mul

◆ new_px

◆ new_py

◆ new_pz

◆ new_r00

◆ new_r01

◆ new_r02

◆ new_r10

◆ new_r11

◆ new_r12

◆ new_r20

◆ new_r21

◆ new_r22

◆ npx

◆ npy

◆ npz

◆ pp

◆ px

◆ py

◆ pz

◆ r00