C++ API

Class Hierarchy

• • Namespace KDL
    • Class ChainIkSolverPos_TL
    • Enum BasicJointType
  • Namespace math3d
    • Struct color_rgb24
    • Template Struct matrix3x3
    • Template Struct quaternion
    • Struct triangle
    • Template Struct vec3d
    • Class invalid_vector
    • Template Class matrix
    • Class oriented_point3d
  • Namespace NLOPT_IK
    • Class NLOPT_IK
    • Enum OptType
  • Namespace TRAC_IK
    • Class TRAC_IK
    • Enum SolveType
  • Struct dual_quaternion

File Hierarchy

• • Directory include
    • Directory trac_ik
      • File dual_quaternion.h
      • File kdl_tl.hpp
      • File math3d.h
      • File nlopt_ik.hpp
      • File trac_ik.hpp

Full C++ API

Namespaces

• Namespace KDL

• Namespace math3d

• Namespace NLOPT_IK

• Namespace std

• Namespace TRAC_IK

Classes and Structs

• Struct dual_quaternion

• Struct color_rgb24

• Template Struct matrix3x3

• Template Struct quaternion

• Struct triangle

• Template Struct vec3d

• Class ChainIkSolverPos_TL

• Class invalid_vector

• Template Class matrix

• Class oriented_point3d

• Class NLOPT_IK

• Class TRAC_IK

Enums

• Enum BasicJointType

• Enum OptType

• Enum SolveType

Functions

• Function dot

• Function exp

• Function KDL::diffRelative

• Function log

• Template Function math3d::almost_zero

• Template Function math3d::conjugate

• Template Function math3d::cross_product

• Template Function math3d::dist

• Template Function math3d::dot

• Template Function math3d::dot_product(const vec3d<T>&, const vec3d<T>&)

• Template Function math3d::dot_product(const vec3d<T>&, const vec3d<S>&)

• Template Function math3d::dot_product(const quaternion<T>&, const quaternion<T>&)

• Template Function math3d::get_normalize

• Template Function math3d::get_rotate(const vec3d<T>&, const quaternion<T>&)

• Template Function math3d::get_rotate(const vec3d<T>&, const matrix3x3<T>&)

• Template Function math3d::get_rotate_translate(const vec3d<T>&, const matrix3x3<T>&, const point3d&)

• Template Function math3d::get_rotate_translate(const vec3d<T>&, const matrix<T>&, const point3d&)

• Template Function math3d::get_rotate_translate(const vec3d<T>&, const T *, const T *)

• Template Function math3d::get_rotate_translate(const vec3d<T>&, const quaternion<T>&, const point3d&)

• Template Function math3d::get_transpose

• Template Function math3d::identity3x3

• Template Function math3d::invert

• Template Function math3d::magnitude

• Template Function math3d::median

• Template Function math3d::mult_matrix(const matrix3x3<T>&, const matrix3x3<T>&, matrix3x3<T>&)

• Template Function math3d::mult_matrix(const Rot1&, const Rot2&, Rot3&)

• Template Function math3d::mult_matrix_inplace

• Template Function math3d::mult_quaternion

• Template Function math3d::norm

• Template Function math3d::norm2

• Template Function math3d::normalize(quaternion<T>&)

• Template Function math3d::normalize(vec3d<T>&)

• Template Function math3d::operator*

• Template Function math3d::operator+

• Template Function math3d::operator~

• Template Function math3d::quaternion_to_rot_matrix

• Template Function math3d::relative_motion

• Template Function math3d::rot_matrix_to_quaternion

• Template Function math3d::rotate(vec3d<T>&, const matrix<T>&)

• Template Function math3d::rotate(vec3d<T>&, const matrix3x3<T>&)

• Template Function math3d::rotate(vec3d<T>&, const matrix<S>&)

• Template Function math3d::rotate(vec3d<T>&, const matrix3x3<S>&)

• Template Function math3d::rotate(vec3d<T>&, const quaternion<T>&)

• Template Function math3d::rotate_translate

• Template Function math3d::set_identity(quaternion<T>&)

• Template Function math3d::set_identity(matrix<T>&, T)

• Template Function math3d::set_identity(matrix3x3<T>&, T)

• Template Function math3d::squared_dist

• Template Function math3d::transpose(matrix<T>&)

• Template Function math3d::transpose(matrix3x3<T>&)

• Template Function math3d::transpose(const matrix<T>&, matrix<T>&)

• Template Function math3d::transpose(const matrix3x3<T>&, matrix3x3<T>&)

• Function operator!

• Function operator*

• Function operator<<

• Function operator~

• Function set_dual_quaternion_matrix

• Function set_quaternion_matrix

• Template Function sign

Variables

• Variable math3d::deg_on_rad

• Variable math3d::pi

• Variable math3d::rad_on_deg

Defines

• Define M_PI

Typedefs

• Typedef math3d::normal3d

• Typedef math3d::point3d

• Typedef math3d::rigid_motion_t

• Typedef uint32_t

• Typedef uint8_t

Directories

• Directory include

• Directory trac_ik

Files

• File dual_quaternion.h

• File kdl_tl.hpp

• File math3d.h

• File nlopt_ik.hpp

• File trac_ik.hpp