openrave_ik.h File Reference

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Classes
class	IKSolution
struct	VARIABLE
Typedefs
typedef double	IKReal
Functions
bool	ik (const IKReal *eetrans, const IKReal *eerot, const IKReal *pfree, std::vector< IKSolution > &vsolutions)

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Typedef Documentation

typedef double IKReal

Definition at line 11 of file openrave_ik.h.

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Function Documentation

bool ik	(	const IKReal *	eetrans,
		const IKReal *	eerot,
		const IKReal *	pfree,
		std::vector< IKSolution > &	vsolutions
	)

solves the inverse kinematics equations.

Parameters:

pfree

is an array specifying the free joints of the chain.

Definition at line 3584 of file ik_pr2_rightarm.cpp.