#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

Include dependency graph for SIA20D_Mesh_manipulator_ikfast_output.cpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes
class	IKSolution
class	IKSolver
struct	IKSolution::VARIABLE
Defines
#define	__PRETTY_FUNCTION__ __func__
#define	IK2PI ((IKReal)6.28318530717959)
#define	IK2PI ((IKReal)6.28318530717959)
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#define	IKFAST_API
#define	IKFAST_API
#define	IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define	IKFAST_ATAN2_MAGTHRESH ((IKReal)2e-6)
#define	IKFAST_SINCOS_THRESH ((IKReal)0.000001)
#define	IKFAST_SOLUTION_THRESH ((IKReal)1e-6)
#define	IKPI ((IKReal)3.14159265358979)
#define	IKPI ((IKReal)3.14159265358979)
#define	IKPI_2 ((IKReal)1.57079632679490)
#define	IKPI_2 ((IKReal)1.57079632679490)
Typedefs
typedef double	IKReal
Functions
void	dgeev_ (const char jobvl, const char jobvr, const int n, double a, const int lda, double wr, double wi, double vl, const int ldvl, double vr, const int ldvr, double work, const int lwork, int info)
void	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	dgetrs_ (const char trans, const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int *info)
IKFAST_API void	fk (const IKReal j, IKReal eetrans, IKReal *eerot)
IKFAST_API int *	getFreeParameters ()
IKFAST_API const char *	getIKFastVersion ()
IKFAST_API int	getIKRealSize ()
IKFAST_API int	getIKType ()
IKFAST_API const char *	getKinematicsHash ()
IKFAST_API int	getNumFreeParameters ()
IKFAST_API int	getNumJoints ()
IKFAST_API bool	ik (const IKReal eetrans, const IKReal eerot, const IKReal *pfree, std::vector< IKSolution > &vsolutions)
float	IKabs (float f)
double	IKabs (double f)
float	IKacos (float f)
double	IKacos (double f)
float	IKasin (float f)
double	IKasin (double f)
float	IKatan2 (float fy, float fx)
double	IKatan2 (double fy, double fx)
float	IKcos (float f)
double	IKcos (double f)
float	IKfmod (float x, float y)
float	IKfmod (double x, double y)
float	IKlog (float f)
double	IKlog (double f)
float	IKsign (float f)
double	IKsign (double f)
float	IKsin (float f)
double	IKsin (double f)
float	IKsqr (float f)
double	IKsqr (double f)
float	IKsqrt (float f)
double	IKsqrt (double f)
float	IKtan (float f)
double	IKtan (double f)
int	main (int argc, char **argv)
void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Define Documentation

#define __PRETTY_FUNCTION__ __func__

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 55 generated on 2012-03-22 14:35:22.821679 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 42 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

#define IK2PI ((IKReal)6.28318530717959)

Definition at line 56 of file SIA20D_Mesh_manipulator_ikfast_plugin.cpp.

#define IK2PI ((IKReal)6.28318530717959)

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 55 generated on 2012-03-22 14:35:22.821679 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 53 of file SIA20D_Mesh_manipulator_ikfast_plugin.cpp.

#define IKFAST_API

Definition at line 74 of file SIA20D_Mesh_manipulator_ikfast_plugin.cpp.

#define IKFAST_ASSERT ( b ) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

Definition at line 45 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

#define IKFAST_ATAN2_MAGTHRESH ((IKReal)2e-6)

Definition at line 195 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

#define IKFAST_SINCOS_THRESH ((IKReal)0.000001)

Definition at line 190 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

#define IKFAST_SOLUTION_THRESH ((IKReal)1e-6)

Definition at line 200 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

#define IKPI ((IKReal)3.14159265358979)

Definition at line 57 of file SIA20D_Mesh_manipulator_ikfast_plugin.cpp.

#define IKPI_2 ((IKReal)1.57079632679490)

Definition at line 58 of file SIA20D_Mesh_manipulator_ikfast_plugin.cpp.

Typedef Documentation

typedef double IKReal

Definition at line 95 of file SIA20D_Mesh_manipulator_ikfast_output.cpp.

Function Documentation

void dgeev_	(	const char *	jobvl,
		const char *	jobvr,
		const int *	n,
		double *	a,
		const int *	lda,
		double *	wr,
		double *	wi,
		double *	vl,
		const int *	ldvl,
		double *	vr,
		const int *	ldvr,
		double *	work,
		const int *	lwork,
		int *	info
	)