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

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

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

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 bool	checkconsistency8 (const IkReal *Breal)

static bool	checkconsistency8 (const IkReal *Breal)

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...

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...

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...

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	_ij3 [2]

unsigned char	_ij4 [2]

unsigned char	_ij5 [2]

unsigned char	_ij6 [2]

unsigned char	_ij7 [2]

unsigned char	_ij8 [2]

unsigned char	_ij9 [2]

unsigned char	_nj10

unsigned char	_nj11

unsigned char	_nj12

unsigned char	_nj13

unsigned char	_nj14

unsigned char	_nj3

unsigned char	_nj4

unsigned char	_nj5

unsigned char	_nj6

unsigned char	_nj7

unsigned char	_nj8

unsigned char	_nj9

IkReal	cj10

IkReal	cj11

IkReal	cj12

IkReal	cj13

IkReal	cj14

IkReal	cj3

IkReal	cj4

IkReal	cj5

IkReal	cj6

IkReal	cj7

IkReal	cj8

IkReal	cj9

IkReal	htj10

IkReal	htj11

IkReal	htj12

IkReal	htj13

IkReal	htj14

IkReal	htj3

IkReal	htj4

IkReal	htj5

IkReal	htj6

IkReal	htj7

IkReal	htj8

IkReal	htj9

IkReal	j10

IkReal	j11

IkReal	j12

IkReal	j13

IkReal	j14

IkReal	j3

IkReal	j4

IkReal	j5

IkReal	j6

IkReal	j7

IkReal	j8

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	sj3

IkReal	sj4

IkReal	sj5

IkReal	sj6

IkReal	sj7

IkReal	sj8

IkReal	sj9

Detailed Description

Definition at line 318 of file left_arm_ik.cpp.

Member Function Documentation

◆ checkconsistency8() [1/4]

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

inlinestatic

Definition at line 16909 of file left_arm_ik.cpp.

◆ checkconsistency8() [2/4]

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

inlinestatic

Definition at line 16909 of file nextage_left_arm_ikfast_solver.cpp.

◆ checkconsistency8() [3/4]

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

inlinestatic

Definition at line 17009 of file nextage_right_arm_ikfast_solver.cpp.

◆ checkconsistency8() [4/4]

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

inlinestatic

Definition at line 17009 of file right_arm_ik.cpp.

◆ ComputeIk() [1/4]

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

inline

Definition at line 319 of file right_arm_ik.cpp.

◆ ComputeIk() [2/4]

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

inline

Definition at line 319 of file nextage_right_arm_ikfast_solver.cpp.

◆ ComputeIk() [3/4]

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

inline

Definition at line 323 of file nextage_left_arm_ikfast_solver.cpp.

◆ ComputeIk() [4/4]

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

inline

Definition at line 323 of file left_arm_ik.cpp.

◆ solvedialyticpoly8qep() [1/4]

static void 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 16921 of file left_arm_ik.cpp.

◆ solvedialyticpoly8qep() [2/4]

static void 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 16921 of file nextage_left_arm_ikfast_solver.cpp.

◆ solvedialyticpoly8qep() [3/4]

static void 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 17021 of file nextage_right_arm_ikfast_solver.cpp.

◆ solvedialyticpoly8qep() [4/4]

static void 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 17021 of file right_arm_ik.cpp.

Member Data Documentation

◆ _ij10

unsigned char IKSolver::_ij10

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _ij11

unsigned char IKSolver::_ij11

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _ij12

unsigned char IKSolver::_ij12

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _ij13

unsigned char IKSolver::_ij13

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _ij14

unsigned char IKSolver::_ij14

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _ij3

unsigned char IKSolver::_ij3

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij4

unsigned char IKSolver::_ij4

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij5

unsigned char IKSolver::_ij5

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij6

unsigned char IKSolver::_ij6

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij7

unsigned char IKSolver::_ij7

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij8

unsigned char IKSolver::_ij8

Definition at line 321 of file left_arm_ik.cpp.

◆ _ij9

unsigned char IKSolver::_ij9

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj10

unsigned char IKSolver::_nj10

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj11

unsigned char IKSolver::_nj11

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj12

unsigned char IKSolver::_nj12

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj13

unsigned char IKSolver::_nj13

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj14

unsigned char IKSolver::_nj14

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ _nj3

unsigned char IKSolver::_nj3

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj4

unsigned char IKSolver::_nj4

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj5

unsigned char IKSolver::_nj5

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj6

unsigned char IKSolver::_nj6

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj7

unsigned char IKSolver::_nj7

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj8

unsigned char IKSolver::_nj8

Definition at line 321 of file left_arm_ik.cpp.

◆ _nj9

unsigned char IKSolver::_nj9

Definition at line 317 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj10

IkReal IKSolver::cj10

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj11

IkReal IKSolver::cj11

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj12

IkReal IKSolver::cj12

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj13

IkReal IKSolver::cj13

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj14

IkReal IKSolver::cj14

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ cj3

IkReal IKSolver::cj3

Definition at line 320 of file left_arm_ik.cpp.

◆ cj4

IkReal IKSolver::cj4

Definition at line 320 of file left_arm_ik.cpp.

◆ cj5

IkReal IKSolver::cj5

Definition at line 320 of file left_arm_ik.cpp.

◆ cj6

IkReal IKSolver::cj6

Definition at line 320 of file left_arm_ik.cpp.

◆ cj7

IkReal IKSolver::cj7

Definition at line 320 of file left_arm_ik.cpp.

◆ cj8

IkReal IKSolver::cj8

Definition at line 320 of file left_arm_ik.cpp.

◆ cj9

IkReal IKSolver::cj9

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj10

IkReal IKSolver::htj10

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj11

IkReal IKSolver::htj11

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj12

IkReal IKSolver::htj12

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj13

IkReal IKSolver::htj13

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj14

IkReal IKSolver::htj14

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ htj3

IkReal IKSolver::htj3

Definition at line 320 of file left_arm_ik.cpp.

◆ htj4

IkReal IKSolver::htj4

Definition at line 320 of file left_arm_ik.cpp.

◆ htj5

IkReal IKSolver::htj5

Definition at line 320 of file left_arm_ik.cpp.

◆ htj6

IkReal IKSolver::htj6

Definition at line 320 of file left_arm_ik.cpp.

◆ htj7

IkReal IKSolver::htj7

Definition at line 320 of file left_arm_ik.cpp.

◆ htj8

IkReal IKSolver::htj8

Definition at line 320 of file left_arm_ik.cpp.

◆ htj9

IkReal IKSolver::htj9

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j10

IkReal IKSolver::j10

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j11

IkReal IKSolver::j11

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j12

IkReal IKSolver::j12

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j13

IkReal IKSolver::j13

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j14

IkReal IKSolver::j14

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ j3

IkReal IKSolver::j3

Definition at line 320 of file left_arm_ik.cpp.

◆ j4

IkReal IKSolver::j4

Definition at line 320 of file left_arm_ik.cpp.

◆ j5

IkReal IKSolver::j5

Definition at line 320 of file left_arm_ik.cpp.

◆ j6

IkReal IKSolver::j6

Definition at line 320 of file left_arm_ik.cpp.

◆ j7

IkReal IKSolver::j7

Definition at line 320 of file left_arm_ik.cpp.

◆ j8

IkReal IKSolver::j8

Definition at line 320 of file left_arm_ik.cpp.

◆ j9

IkReal IKSolver::j9

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ new_px

IkReal IKSolver::new_px

Definition at line 320 of file left_arm_ik.cpp.

◆ new_py

IkReal IKSolver::new_py

Definition at line 320 of file left_arm_ik.cpp.

◆ new_pz

IkReal IKSolver::new_pz

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r00

IkReal IKSolver::new_r00

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r01

IkReal IKSolver::new_r01

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r02

IkReal IKSolver::new_r02

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r10

IkReal IKSolver::new_r10

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r11

IkReal IKSolver::new_r11

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r12

IkReal IKSolver::new_r12

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r20

IkReal IKSolver::new_r20

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r21

IkReal IKSolver::new_r21

Definition at line 320 of file left_arm_ik.cpp.

◆ new_r22

IkReal IKSolver::new_r22

Definition at line 320 of file left_arm_ik.cpp.

◆ npx

IkReal IKSolver::npx

Definition at line 320 of file left_arm_ik.cpp.

◆ npy

IkReal IKSolver::npy

Definition at line 320 of file left_arm_ik.cpp.

◆ npz

IkReal IKSolver::npz

Definition at line 320 of file left_arm_ik.cpp.

◆ pp

IkReal IKSolver::pp

Definition at line 320 of file left_arm_ik.cpp.

◆ px

IkReal IKSolver::px

Definition at line 320 of file left_arm_ik.cpp.

◆ py

IkReal IKSolver::py

Definition at line 320 of file left_arm_ik.cpp.

◆ pz

IkReal IKSolver::pz

Definition at line 320 of file left_arm_ik.cpp.

◆ r00

IkReal IKSolver::r00

Definition at line 320 of file left_arm_ik.cpp.

◆ r01

IkReal IKSolver::r01

Definition at line 320 of file left_arm_ik.cpp.

◆ r02

IkReal IKSolver::r02

Definition at line 320 of file left_arm_ik.cpp.

◆ r10

IkReal IKSolver::r10

Definition at line 320 of file left_arm_ik.cpp.

◆ r11

IkReal IKSolver::r11

Definition at line 320 of file left_arm_ik.cpp.

◆ r12

IkReal IKSolver::r12

Definition at line 320 of file left_arm_ik.cpp.

◆ r20

IkReal IKSolver::r20

Definition at line 320 of file left_arm_ik.cpp.

◆ r21

IkReal IKSolver::r21

Definition at line 320 of file left_arm_ik.cpp.

◆ r22

IkReal IKSolver::r22

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp0_0

IkReal IKSolver::rxp0_0

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp0_1

IkReal IKSolver::rxp0_1

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp0_2

IkReal IKSolver::rxp0_2

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp1_0

IkReal IKSolver::rxp1_0

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp1_1

IkReal IKSolver::rxp1_1

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp1_2

IkReal IKSolver::rxp1_2

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp2_0

IkReal IKSolver::rxp2_0

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp2_1

IkReal IKSolver::rxp2_1

Definition at line 320 of file left_arm_ik.cpp.

◆ rxp2_2

IkReal IKSolver::rxp2_2

Definition at line 320 of file left_arm_ik.cpp.

◆ sj10

IkReal IKSolver::sj10

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ sj11

IkReal IKSolver::sj11

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ sj12

IkReal IKSolver::sj12

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ sj13

IkReal IKSolver::sj13

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ sj14

IkReal IKSolver::sj14

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

◆ sj3

IkReal IKSolver::sj3

Definition at line 320 of file left_arm_ik.cpp.

◆ sj4

IkReal IKSolver::sj4

Definition at line 320 of file left_arm_ik.cpp.

◆ sj5

IkReal IKSolver::sj5

Definition at line 320 of file left_arm_ik.cpp.

◆ sj6

IkReal IKSolver::sj6

Definition at line 320 of file left_arm_ik.cpp.

◆ sj7

IkReal IKSolver::sj7

Definition at line 320 of file left_arm_ik.cpp.

◆ sj8

IkReal IKSolver::sj8

Definition at line 320 of file left_arm_ik.cpp.

◆ sj9

IkReal IKSolver::sj9

Definition at line 316 of file nextage_right_arm_ikfast_solver.cpp.

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

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ checkconsistency8() [1/4]

◆ checkconsistency8() [2/4]

◆ checkconsistency8() [3/4]

◆ checkconsistency8() [4/4]

◆ ComputeIk() [1/4]

◆ ComputeIk() [2/4]

◆ ComputeIk() [3/4]

◆ ComputeIk() [4/4]

◆ solvedialyticpoly8qep() [1/4]

◆ solvedialyticpoly8qep() [2/4]

◆ solvedialyticpoly8qep() [3/4]

◆ solvedialyticpoly8qep() [4/4]

Member Data Documentation

◆ _ij10

◆ _ij11

◆ _ij12

◆ _ij13

◆ _ij14

◆ _ij3

◆ _ij4

◆ _ij5

◆ _ij6

◆ _ij7

◆ _ij8

◆ _ij9

◆ _nj10

◆ _nj11

◆ _nj12

◆ _nj13

◆ _nj14

◆ _nj3

◆ _nj4

◆ _nj5

◆ _nj6

◆ _nj7

◆ _nj8

◆ _nj9

◆ cj10

◆ cj11

◆ cj12

◆ cj13

◆ cj14

◆ cj3

◆ cj4

◆ cj5

◆ cj6

◆ cj7

◆ cj8

◆ cj9

◆ htj10

◆ htj11

◆ htj12

◆ htj13

◆ htj14

◆ htj3

◆ htj4

◆ htj5

◆ htj6

◆ htj7

◆ htj8

◆ htj9

◆ j10

◆ j11

◆ j12

◆ j13

◆ j14

◆ j3

◆ j4

◆ j5

◆ j6

◆ j7

◆ j8

◆ j9

◆ new_px

◆ new_py