#include <ur_kinematics/ur_kin.h>
#include <math.h>
#include <stdio.h>
#include <ur_kinematics/ikfast.h>

Include dependency graph for ur_kin.cpp:

Namespaces
	ur_kinematics

Macros
#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x]

#define	IKFAST_HAS_LIBRARY

Functions
IKFAST_API void	ComputeFk (const IkReal j, IkReal eetrans, IkReal *eerot)

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

void	ur_kinematics::forward (const double q, double T)

void	ur_kinematics::forward_all (const double q, double T1, double T2, double T3, double T4, double T5, double *T6)

void	from_mat44 (const double mat4_4, IkReal eetrans, IkReal *eerot)

IKFAST_API int *	GetFreeParameters ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int	GetNumJoints ()

	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)

int	ur_kinematics::inverse (const double T, double q_sols, double q6_des=0.0)

int	main (int argc, char *argv[])

void	to_mat44 (double mat4_4, const IkReal eetrans, const IkReal *eerot)

Macro Definition Documentation

◆ IKFAST_COMPILE_ASSERT

#define IKFAST_COMPILE_ASSERT ( x ) extern int __dummy[(int)x]

Definition at line 421 of file ur_kin.cpp.

◆ IKFAST_HAS_LIBRARY

#define IKFAST_HAS_LIBRARY

Definition at line 416 of file ur_kin.cpp.

Function Documentation

◆ ComputeFk()

IKFAST_API void ComputeFk	(	const IkReal *	j,
		IkReal *	eetrans,
		IkReal *	eerot
	)

Definition at line 474 of file ur_kin.cpp.

◆ ComputeIk()

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

Definition at line 453 of file ur_kin.cpp.

◆ from_mat44()

void from_mat44	(	const double *	mat4_4,
		IkReal *	eetrans,
		IkReal *	eerot
	)

Definition at line 442 of file ur_kin.cpp.

◆ GetFreeParameters()

IKFAST_API int* GetFreeParameters ( )

Definition at line 482 of file ur_kin.cpp.

◆ GetIkRealSize()

IKFAST_API int GetIkRealSize ( )

Definition at line 485 of file ur_kin.cpp.

◆ GetNumFreeParameters()

IKFAST_API int GetNumFreeParameters ( )

Definition at line 481 of file ur_kin.cpp.

◆ GetNumJoints()

IKFAST_API int GetNumJoints ( )

Definition at line 483 of file ur_kin.cpp.

◆ IKFAST_COMPILE_ASSERT()

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =61 )

◆ main()

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 496 of file ur_kin.cpp.

◆ to_mat44()

void to_mat44	(	double *	mat4_4,
		const IkReal *	eetrans,
		const IkReal *	eerot
	)

Definition at line 428 of file ur_kin.cpp.

Namespaces

Macros

Functions