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 384 of file fetch_arm_ikfast_moveit_plugin.cpp.

Member Function Documentation

◆ ComputeIk()

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

inline

Definition at line 391 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots2()

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

inlinestatic

Definition at line 17027 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots3()

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

inlinestatic

Definition at line 16949 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots4()

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

inlinestatic

Definition at line 17121 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots5()

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

inlinestatic

Definition at line 17043 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots6()

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

inlinestatic

Definition at line 17277 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots7()

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

inlinestatic

Definition at line 17199 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ polyroots8()

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

inlinestatic

Definition at line 17355 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rotationfunction0()

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

inline

Definition at line 7469 of file fetch_arm_ikfast_moveit_plugin.cpp.

Member Data Documentation

◆ _ij10

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij100

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

Definition at line 390 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij11

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij12

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij6

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij7

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij8

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _ij9

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

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj10

unsigned char fetch_arm::IKSolver::_nj10

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj100

unsigned char fetch_arm::IKSolver::_nj100

Definition at line 390 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj11

unsigned char fetch_arm::IKSolver::_nj11

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj12

unsigned char fetch_arm::IKSolver::_nj12

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj6

unsigned char fetch_arm::IKSolver::_nj6

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj7

unsigned char fetch_arm::IKSolver::_nj7

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj8

unsigned char fetch_arm::IKSolver::_nj8

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ _nj9

unsigned char fetch_arm::IKSolver::_nj9

Definition at line 387 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj10

IkReal fetch_arm::IKSolver::cj10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj100

IkReal fetch_arm::IKSolver::cj100

Definition at line 389 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj11

IkReal fetch_arm::IKSolver::cj11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj12

IkReal fetch_arm::IKSolver::cj12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj6

IkReal fetch_arm::IKSolver::cj6

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj7

IkReal fetch_arm::IKSolver::cj7

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj8

IkReal fetch_arm::IKSolver::cj8

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ cj9

IkReal fetch_arm::IKSolver::cj9

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj10

IkReal fetch_arm::IKSolver::htj10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj11

IkReal fetch_arm::IKSolver::htj11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj12

IkReal fetch_arm::IKSolver::htj12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj6

IkReal fetch_arm::IKSolver::htj6

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj7

IkReal fetch_arm::IKSolver::htj7

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj8

IkReal fetch_arm::IKSolver::htj8

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ htj9

IkReal fetch_arm::IKSolver::htj9

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j10

IkReal fetch_arm::IKSolver::j10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j100

IkReal fetch_arm::IKSolver::j100

Definition at line 389 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j10mul

IkReal fetch_arm::IKSolver::j10mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j11

IkReal fetch_arm::IKSolver::j11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j11mul

IkReal fetch_arm::IKSolver::j11mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j12

IkReal fetch_arm::IKSolver::j12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j12mul

IkReal fetch_arm::IKSolver::j12mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j6

IkReal fetch_arm::IKSolver::j6

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j7

IkReal fetch_arm::IKSolver::j7

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j7mul

IkReal fetch_arm::IKSolver::j7mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j8

IkReal fetch_arm::IKSolver::j8

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j8mul

IkReal fetch_arm::IKSolver::j8mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j9

IkReal fetch_arm::IKSolver::j9

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ j9mul

IkReal fetch_arm::IKSolver::j9mul

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_px

IkReal fetch_arm::IKSolver::new_px

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_py

IkReal fetch_arm::IKSolver::new_py

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_pz

IkReal fetch_arm::IKSolver::new_pz

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r00

IkReal fetch_arm::IKSolver::new_r00

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r01

IkReal fetch_arm::IKSolver::new_r01

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r02

IkReal fetch_arm::IKSolver::new_r02

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r10

IkReal fetch_arm::IKSolver::new_r10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r11

IkReal fetch_arm::IKSolver::new_r11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r12

IkReal fetch_arm::IKSolver::new_r12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r20

IkReal fetch_arm::IKSolver::new_r20

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r21

IkReal fetch_arm::IKSolver::new_r21

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ new_r22

IkReal fetch_arm::IKSolver::new_r22

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ npx

IkReal fetch_arm::IKSolver::npx

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ npy

IkReal fetch_arm::IKSolver::npy

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ npz

IkReal fetch_arm::IKSolver::npz

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ pp

IkReal fetch_arm::IKSolver::pp

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ px

IkReal fetch_arm::IKSolver::px

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ py

IkReal fetch_arm::IKSolver::py

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ pz

IkReal fetch_arm::IKSolver::pz

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r00

IkReal fetch_arm::IKSolver::r00

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r01

IkReal fetch_arm::IKSolver::r01

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r02

IkReal fetch_arm::IKSolver::r02

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r10

IkReal fetch_arm::IKSolver::r10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r11

IkReal fetch_arm::IKSolver::r11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r12

IkReal fetch_arm::IKSolver::r12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r20

IkReal fetch_arm::IKSolver::r20

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r21

IkReal fetch_arm::IKSolver::r21

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ r22

IkReal fetch_arm::IKSolver::r22

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp0_0

IkReal fetch_arm::IKSolver::rxp0_0

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp0_1

IkReal fetch_arm::IKSolver::rxp0_1

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp0_2

IkReal fetch_arm::IKSolver::rxp0_2

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp1_0

IkReal fetch_arm::IKSolver::rxp1_0

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp1_1

IkReal fetch_arm::IKSolver::rxp1_1

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp1_2

IkReal fetch_arm::IKSolver::rxp1_2

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp2_0

IkReal fetch_arm::IKSolver::rxp2_0

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp2_1

IkReal fetch_arm::IKSolver::rxp2_1

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ rxp2_2

IkReal fetch_arm::IKSolver::rxp2_2

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj10

IkReal fetch_arm::IKSolver::sj10

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj100

IkReal fetch_arm::IKSolver::sj100

Definition at line 389 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj11

IkReal fetch_arm::IKSolver::sj11

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj12

IkReal fetch_arm::IKSolver::sj12

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj6

IkReal fetch_arm::IKSolver::sj6

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj7

IkReal fetch_arm::IKSolver::sj7

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj8

IkReal fetch_arm::IKSolver::sj8

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

◆ sj9

IkReal fetch_arm::IKSolver::sj9

Definition at line 386 of file fetch_arm_ikfast_moveit_plugin.cpp.

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

fetch_arm_ikfast_moveit_plugin.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