#include "ikfast.h"
#include <math.h>
#include <stdio.h>

Include dependency graph for ikfast_ur10.cpp:

Namespaces
namespace	ur_kinematics
Defines
#define	a2 -0.612
#define	a3 -0.5723
#define	d1 0.1273
#define	d4 0.163941
#define	d5 0.1157
#define	d6 0.0922
#define	IKFAST_HAS_LIBRARY
#define	PI M_PI
#define	SIGN(x) ( ( (x) > 0 ) - ( (x) < 0 ) )
#define	UR10_PARAMS
#define	ZERO_THRESH 0.00000001
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	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 ()
int	ur_kinematics::inverse (const double T, double q_sols, double q6_des)
void	to_mat44 (double mat4_4, const IkReal eetrans, const IkReal *eerot)

Define Documentation

#define a2 -0.612

Definition at line 34 of file ikfast_ur10.cpp.

#define a3 -0.5723

Definition at line 35 of file ikfast_ur10.cpp.

#define d1 0.1273

Definition at line 33 of file ikfast_ur10.cpp.

#define d4 0.163941

Definition at line 36 of file ikfast_ur10.cpp.

#define d5 0.1157

Definition at line 37 of file ikfast_ur10.cpp.

#define d6 0.0922

Definition at line 38 of file ikfast_ur10.cpp.

#define IKFAST_HAS_LIBRARY

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 61 generated on 2012-11-23 19:10:48.288028 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 20 of file ikfast_ur10.cpp.

#define PI M_PI

Definition at line 29 of file ikfast_ur10.cpp.

#define SIGN ( x ) ( ( (x) > 0 ) - ( (x) < 0 ) )

Definition at line 28 of file ikfast_ur10.cpp.

#define UR10_PARAMS

Definition at line 30 of file ikfast_ur10.cpp.

#define ZERO_THRESH 0.00000001

Definition at line 27 of file ikfast_ur10.cpp.

Function Documentation

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

Definition at line 275 of file ikfast_ur10.cpp.

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

Definition at line 256 of file ikfast_ur10.cpp.

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

Definition at line 245 of file ikfast_ur10.cpp.

IKFAST_API int* GetFreeParameters ( )

Definition at line 283 of file ikfast_ur10.cpp.

IKFAST_API int GetIkRealSize ( )

Definition at line 286 of file ikfast_ur10.cpp.

IKFAST_API int GetNumFreeParameters ( )

Definition at line 282 of file ikfast_ur10.cpp.

IKFAST_API int GetNumJoints ( )

Definition at line 284 of file ikfast_ur10.cpp.

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

Definition at line 230 of file ikfast_ur10.cpp.

Namespaces

Defines

Functions

Define Documentation

Function Documentation