abb2400_ikfast_tests.cpp File Reference

#include <opw_kinematics/opw_macros.h>
#include <gtest/gtest.h>
#include <cstdlib>
#include <array>
#include <cmath>
#include <iomanip>
#include <iostream>
#include <vector>
#include "ikfast.h"
#include "opw_kinematics/opw_kinematics.h"
#include "opw_kinematics/opw_utilities.h"
#include "opw_kinematics/opw_parameters_examples.h"

Include dependency graph for abb2400_ikfast_tests.cpp:

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Classes
struct	PoseGenerator

Typedefs
using	Solutions = opw_kinematics::Solutions< double >
using	Transform = opw_kinematics::Transform< double >

Functions
void	compare (ikfast::IkSolutionList< double > &ikf, Solutions &opw)
std::size_t	countValidSolutions (const Solutions &opw)
bool	findSolInSet (const std::array< double, 6 > &s, const Solutions &opw)
int	main (int argc, char **argv)
static double	normalize_angle (double angle)
	normalize More...
static double	normalize_angle_positive (double angle)
	normalize_angle_positive More...
void	printResults (const Solutions &sols)
static double	shortest_angular_distance (double from, double to)
	shortest_angular_distance More...
void	solveIKFast (const Transform &p, ikfast::IkSolutionList< double > &sols)
Solutions	solveOPW (const opw_kinematics::Parameters< double > &param, const Transform &p)
	TEST (ikfast_to_opw, similar_solutions)

Typedef Documentation

Solutions

using Solutions = opw_kinematics::Solutions<double>

Definition at line 18 of file abb2400_ikfast_tests.cpp.

Transform

using Transform = opw_kinematics::Transform<double>

Definition at line 17 of file abb2400_ikfast_tests.cpp.

Function Documentation

compare()

void compare	(	ikfast::IkSolutionList< double > &	ikf,
		Solutions &	opw
	)

Definition at line 152 of file abb2400_ikfast_tests.cpp.

countValidSolutions()

std::size_t countValidSolutions

(

const Solutions &

opw

)

Definition at line 67 of file abb2400_ikfast_tests.cpp.

findSolInSet()

bool findSolInSet	(	const std::array< double, 6 > &	s,
		const Solutions &	opw
	)

Definition at line 118 of file abb2400_ikfast_tests.cpp.

main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 205 of file abb2400_ikfast_tests.cpp.

normalize_angle()

static double normalize_angle ( double  angle )

inlinestatic

normalize

Normalizes the angle to be -M_PI circle to +M_PI circle It takes and returns radians.

Definition at line 96 of file abb2400_ikfast_tests.cpp.

normalize_angle_positive()

static double normalize_angle_positive ( double  angle )

inlinestatic

normalize_angle_positive

   Normalizes the angle to be 0 to 2*M_PI
   It takes and returns radians.

Definition at line 84 of file abb2400_ikfast_tests.cpp.

printResults()

void printResults

(

const Solutions &

sols

)

Definition at line 141 of file abb2400_ikfast_tests.cpp.

shortest_angular_distance()

static double shortest_angular_distance ( double  from, double  to  )

inlinestatic

shortest_angular_distance

\function Given 2 angles, this returns the shortest angular difference. The inputs and ouputs are of course radians.

The result would always be -pi <= result <= pi. Adding the result to "from" will always get you an equivelent angle to "to".

Definition at line 116 of file abb2400_ikfast_tests.cpp.

solveIKFast()

void solveIKFast	(	const Transform &	p,
		ikfast::IkSolutionList< double > &	sols
	)

Definition at line 41 of file abb2400_ikfast_tests.cpp.

solveOPW()

Solutions solveOPW	(	const opw_kinematics::Parameters< double > &	param,
		const Transform &	p
	)

Definition at line 62 of file abb2400_ikfast_tests.cpp.

TEST()

TEST	(	ikfast_to_opw	,
		similar_solutions
	)

Definition at line 179 of file abb2400_ikfast_tests.cpp.