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

Include dependency graph for ikfast_lwr.cpp:

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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_SINCOS_THRESH ((IKReal)0.000001)
#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 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	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 45 generated on 2011-09-11 21:53:09.154827 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object: gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -shared -Wl,-soname,ik.so -o ik.so ik.cpp

Definition at line 41 of file ikfast_lwr.cpp.

#define IK2PI ((IKReal)6.28318530717959)

Definition at line 55 of file lwr_kinematics_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 45 generated on 2011-09-11 21:53:09.154827 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object: gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -shared -Wl,-soname,ik.so -o ik.so ik.cpp

Definition at line 52 of file lwr_kinematics_plugin.cpp.

#define IKFAST_API

Definition at line 73 of file lwr_kinematics_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 44 of file ikfast_lwr.cpp.

#define IKFAST_SINCOS_THRESH ((IKReal)0.000001)

Definition at line 142 of file ikfast_lwr.cpp.

#define IKPI ((IKReal)3.14159265358979)

Definition at line 56 of file lwr_kinematics_plugin.cpp.

#define IKPI ((IKReal)3.14159265358979)

#define IKPI_2 ((IKReal)1.57079632679490)

Definition at line 57 of file lwr_kinematics_plugin.cpp.

Typedef Documentation

typedef double IKReal

Definition at line 94 of file ikfast_lwr.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
	)

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
	)

solves the forward kinematics equations.

Parameters:

pfree is an array specifying the free joints of the chain.

Definition at line 243 of file ikfast_lwr.cpp.

IKFAST_API int* getFreeParameters ( )

Definition at line 327 of file ikfast_lwr.cpp.

IKFAST_API int getIKRealSize ( )

Definition at line 330 of file ikfast_lwr.cpp.

IKFAST_API int getIKType ( )

Definition at line 332 of file ikfast_lwr.cpp.

IKFAST_API const char* getKinematicsHash ( )

Definition at line 1484 of file ikfast_lwr.cpp.

IKFAST_API int getNumFreeParameters ( )

Definition at line 326 of file ikfast_lwr.cpp.

IKFAST_API int getNumJoints ( )

Definition at line 328 of file ikfast_lwr.cpp.

IKFAST_API 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 1479 of file ikfast_lwr.cpp.

float IKabs ( float f ) [inline]

Definition at line 135 of file ikfast_lwr.cpp.

double IKabs ( double f ) [inline]

Definition at line 136 of file ikfast_lwr.cpp.

float IKacos ( float f ) [inline]

Definition at line 178 of file ikfast_lwr.cpp.

double IKacos ( double f ) [inline]

Definition at line 185 of file ikfast_lwr.cpp.

float IKasin ( float f ) [inline]

Definition at line 145 of file ikfast_lwr.cpp.

double IKasin ( double f ) [inline]

Definition at line 152 of file ikfast_lwr.cpp.

float IKatan2	(	float	fy,
		float	fx
	)		`[inline]`

Definition at line 200 of file ikfast_lwr.cpp.

double IKatan2	(	double	fy,
		double	fx
	)		`[inline]`

Definition at line 210 of file ikfast_lwr.cpp.

float IKcos ( float f ) [inline]

Definition at line 194 of file ikfast_lwr.cpp.

double IKcos ( double f ) [inline]

Definition at line 195 of file ikfast_lwr.cpp.

float IKfmod	(	float	x,
		float	y
	)		`[inline]`

Definition at line 161 of file ikfast_lwr.cpp.

float IKfmod	(	double	x,
		double	y
	)		`[inline]`

Definition at line 170 of file ikfast_lwr.cpp.

float IKlog ( float f ) [inline]

Definition at line 138 of file ikfast_lwr.cpp.

double IKlog ( double f ) [inline]

Definition at line 139 of file ikfast_lwr.cpp.

float IKsign ( float f ) [inline]

Definition at line 221 of file ikfast_lwr.cpp.

double IKsign ( double f ) [inline]

Definition at line 231 of file ikfast_lwr.cpp.

float IKsin ( float f ) [inline]

Definition at line 192 of file ikfast_lwr.cpp.

double IKsin ( double f ) [inline]

Definition at line 193 of file ikfast_lwr.cpp.

float IKsqrt ( float f ) [inline]

Definition at line 198 of file ikfast_lwr.cpp.

double IKsqrt ( double f ) [inline]

Definition at line 199 of file ikfast_lwr.cpp.

float IKtan ( float f ) [inline]

Definition at line 196 of file ikfast_lwr.cpp.

double IKtan ( double f ) [inline]

Definition at line 197 of file ikfast_lwr.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 1496 of file ikfast_lwr.cpp.

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

Classes

Defines

Typedefs

Functions

Define Documentation

Typedef Documentation

Function Documentation