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)

Public Attributes
unsigned char	_ij0 [2]

unsigned char	_ij1 [2]

unsigned char	_ij100 [2]

unsigned char	_ij2 [2]

unsigned char	_ij3 [2]

unsigned char	_ij4 [2]

unsigned char	_ij5 [2]

unsigned char	_nj0

unsigned char	_nj1

unsigned char	_nj100

unsigned char	_nj2

unsigned char	_nj3

unsigned char	_nj4

unsigned char	_nj5

IkReal	cj0

IkReal	cj1

IkReal	cj100

IkReal	cj2

IkReal	cj3

IkReal	cj4

IkReal	cj5

IkReal	htj0

IkReal	htj1

IkReal	htj2

IkReal	htj3

IkReal	htj4

IkReal	htj5

IkReal	j0

IkReal	j0mul

IkReal	j1

IkReal	j100

IkReal	j1mul

IkReal	j2

IkReal	j2mul

IkReal	j3

IkReal	j3mul

IkReal	j4

IkReal	j4mul

IkReal	j5

IkReal	j5mul

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	sj0

IkReal	sj1

IkReal	sj100

IkReal	sj2

IkReal	sj3

IkReal	sj4

IkReal	sj5

Detailed Description

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

◆ ComputeIk()

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

inline

Definition at line 374 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots2()

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

inlinestatic

Definition at line 19956 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots3()

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

inlinestatic

Definition at line 19878 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots4()

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

inlinestatic

Definition at line 19972 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rotationfunction0()

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

inline

Definition at line 868 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Member Data Documentation

◆ _ij0

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

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij1

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

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij100

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

Definition at line 373 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij2

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

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij3

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

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij4

unsigned char prbt_manipulator::IKSolver::_ij4[2]

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij5

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

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj0

unsigned char prbt_manipulator::IKSolver::_nj0

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj1

unsigned char prbt_manipulator::IKSolver::_nj1

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj100

unsigned char prbt_manipulator::IKSolver::_nj100

Definition at line 373 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj2

unsigned char prbt_manipulator::IKSolver::_nj2

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj3

unsigned char prbt_manipulator::IKSolver::_nj3

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj4

unsigned char prbt_manipulator::IKSolver::_nj4

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj5

unsigned char prbt_manipulator::IKSolver::_nj5

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj0

IkReal prbt_manipulator::IKSolver::cj0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj1

IkReal prbt_manipulator::IKSolver::cj1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj100

IkReal prbt_manipulator::IKSolver::cj100

Definition at line 372 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj2

IkReal prbt_manipulator::IKSolver::cj2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj3

IkReal prbt_manipulator::IKSolver::cj3

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj4

IkReal prbt_manipulator::IKSolver::cj4

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj5

IkReal prbt_manipulator::IKSolver::cj5

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj0

IkReal prbt_manipulator::IKSolver::htj0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj1

IkReal prbt_manipulator::IKSolver::htj1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj2

IkReal prbt_manipulator::IKSolver::htj2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj3

IkReal prbt_manipulator::IKSolver::htj3

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj4

IkReal prbt_manipulator::IKSolver::htj4

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj5

IkReal prbt_manipulator::IKSolver::htj5

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j0

IkReal prbt_manipulator::IKSolver::j0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j0mul

IkReal prbt_manipulator::IKSolver::j0mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j1

IkReal prbt_manipulator::IKSolver::j1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j100

IkReal prbt_manipulator::IKSolver::j100

Definition at line 372 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j1mul

IkReal prbt_manipulator::IKSolver::j1mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j2

IkReal prbt_manipulator::IKSolver::j2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j2mul

IkReal prbt_manipulator::IKSolver::j2mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j3

IkReal prbt_manipulator::IKSolver::j3

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j3mul

IkReal prbt_manipulator::IKSolver::j3mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j4

IkReal prbt_manipulator::IKSolver::j4

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j4mul

IkReal prbt_manipulator::IKSolver::j4mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j5

IkReal prbt_manipulator::IKSolver::j5

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j5mul

IkReal prbt_manipulator::IKSolver::j5mul

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_px

IkReal prbt_manipulator::IKSolver::new_px

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_py

IkReal prbt_manipulator::IKSolver::new_py

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_pz

IkReal prbt_manipulator::IKSolver::new_pz

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r00

IkReal prbt_manipulator::IKSolver::new_r00

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r01

IkReal prbt_manipulator::IKSolver::new_r01

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r02

IkReal prbt_manipulator::IKSolver::new_r02

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r10

IkReal prbt_manipulator::IKSolver::new_r10

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r11

IkReal prbt_manipulator::IKSolver::new_r11

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r12

IkReal prbt_manipulator::IKSolver::new_r12

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r20

IkReal prbt_manipulator::IKSolver::new_r20

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r21

IkReal prbt_manipulator::IKSolver::new_r21

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r22

IkReal prbt_manipulator::IKSolver::new_r22

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npx

IkReal prbt_manipulator::IKSolver::npx

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npy

IkReal prbt_manipulator::IKSolver::npy

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npz

IkReal prbt_manipulator::IKSolver::npz

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ pp

IkReal prbt_manipulator::IKSolver::pp

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ px

IkReal prbt_manipulator::IKSolver::px

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ py

IkReal prbt_manipulator::IKSolver::py

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ pz

IkReal prbt_manipulator::IKSolver::pz

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r00

IkReal prbt_manipulator::IKSolver::r00

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r01

IkReal prbt_manipulator::IKSolver::r01

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r02

IkReal prbt_manipulator::IKSolver::r02

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r10

IkReal prbt_manipulator::IKSolver::r10

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r11

IkReal prbt_manipulator::IKSolver::r11

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r12

IkReal prbt_manipulator::IKSolver::r12

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r20

IkReal prbt_manipulator::IKSolver::r20

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r21

IkReal prbt_manipulator::IKSolver::r21

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r22

IkReal prbt_manipulator::IKSolver::r22

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_0

IkReal prbt_manipulator::IKSolver::rxp0_0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_1

IkReal prbt_manipulator::IKSolver::rxp0_1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_2

IkReal prbt_manipulator::IKSolver::rxp0_2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_0

IkReal prbt_manipulator::IKSolver::rxp1_0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_1

IkReal prbt_manipulator::IKSolver::rxp1_1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_2

IkReal prbt_manipulator::IKSolver::rxp1_2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_0

IkReal prbt_manipulator::IKSolver::rxp2_0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_1

IkReal prbt_manipulator::IKSolver::rxp2_1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_2

IkReal prbt_manipulator::IKSolver::rxp2_2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj0

IkReal prbt_manipulator::IKSolver::sj0

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj1

IkReal prbt_manipulator::IKSolver::sj1

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj100

IkReal prbt_manipulator::IKSolver::sj100

Definition at line 372 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj2

IkReal prbt_manipulator::IKSolver::sj2

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj3

IkReal prbt_manipulator::IKSolver::sj3

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj4

IkReal prbt_manipulator::IKSolver::sj4

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj5

IkReal prbt_manipulator::IKSolver::sj5

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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

prbt_manipulator_ikfast_moveit_plugin.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ ComputeIk()

◆ polyroots2()

◆ polyroots3()

◆ polyroots4()

◆ rotationfunction0()

Member Data Documentation

◆ _ij0

◆ _ij1

◆ _ij100

◆ _ij2

◆ _ij3

◆ _ij4

◆ _ij5

◆ _nj0

◆ _nj1

◆ _nj100

◆ _nj2

◆ _nj3

◆ _nj4

◆ _nj5

◆ cj0

◆ cj1

◆ cj100

◆ cj2

◆ cj3

◆ cj4

◆ cj5

◆ htj0

◆ htj1

◆ htj2

◆ htj3

◆ htj4

◆ htj5

◆ j0

◆ j0mul

◆ j1

◆ j100

◆ j1mul

◆ j2

◆ j2mul

◆ j3

◆ j3mul

◆ j4

◆ j4mul

◆ j5

◆ j5mul

◆ 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

◆ r01

◆ r02

◆ r10

◆ r11

◆ r12

◆ r20

◆ r21

◆ r22

◆ rxp0_0