Public Member Functions | |
bool | ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions) |
void | innerfn (IkSolutionListBase< IkReal > &solutions) |
Static Public Member Functions | |
static bool | checkconsistency8 (const IkReal *Breal) |
static void | solvedialyticpoly8qep (const IkReal *matcoeffs, IkReal *rawroots, int &numroots) |
Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994) | |
Public Attributes | |
unsigned char | _ij0 [2] |
unsigned char | _ij1 [2] |
unsigned char | _ij100 [2] |
unsigned char | _ij2 [2] |
unsigned char | _ij3 [2] |
unsigned char | _ij4 [2] |
unsigned char | _nj0 |
unsigned char | _nj1 |
unsigned char | _nj100 |
unsigned char | _nj2 |
unsigned char | _nj3 |
unsigned char | _nj4 |
IkReal | cj0 |
IkReal | cj1 |
IkReal | cj100 |
IkReal | cj2 |
IkReal | cj3 |
IkReal | cj4 |
IkReal | htj0 |
IkReal | htj1 |
IkReal | htj2 |
IkReal | htj3 |
IkReal | htj4 |
IkReal | j0 |
IkReal | j0mul |
IkReal | j1 |
IkReal | j100 |
IkReal | j1mul |
IkReal | j2 |
IkReal | j2mul |
IkReal | j3 |
IkReal | j3mul |
IkReal | j4 |
IkReal | j4mul |
IkReal | new_px |
IkReal | new_py |
IkReal | new_pz |
IkReal | new_r00 |
IkReal | new_r01 |
IkReal | new_r02 |
IkReal | npx |
IkReal | npy |
IkReal | npz |
IkReal | pp |
IkReal | px |
IkReal | py |
IkReal | pz |
IkReal | r00 |
IkReal | r01 |
IkReal | r02 |
IkReal | rxp0_0 |
IkReal | rxp0_1 |
IkReal | rxp0_2 |
IkReal | sj0 |
IkReal | sj1 |
IkReal | sj100 |
IkReal | sj2 |
IkReal | sj3 |
IkReal | sj4 |
Definition at line 353 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
static bool ikfast_kinematics_plugin::IKSolver::checkconsistency8 | ( | const IkReal * | Breal | ) | [inline, static] |
Definition at line 14234 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
bool ikfast_kinematics_plugin::IKSolver::ComputeIk | ( | const IkReal * | eetrans, |
const IkReal * | eerot, | ||
const IkReal * | pfree, | ||
IkSolutionListBase< IkReal > & | solutions | ||
) | [inline] |
Definition at line 360 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
void ikfast_kinematics_plugin::IKSolver::innerfn | ( | IkSolutionListBase< IkReal > & | solutions | ) | [inline] |
Definition at line 833 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
static void ikfast_kinematics_plugin::IKSolver::solvedialyticpoly8qep | ( | const IkReal * | matcoeffs, |
IkReal * | rawroots, | ||
int & | numroots | ||
) | [inline, static] |
Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)
matcoeffs is of length 54*3, for 3 matrices
Definition at line 14247 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij0[2] |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij1[2] |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij100[2] |
Definition at line 359 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij2[2] |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij3[2] |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_ij4[2] |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj0 |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj1 |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj100 |
Definition at line 359 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj2 |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj3 |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
unsigned char ikfast_kinematics_plugin::IKSolver::_nj4 |
Definition at line 356 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 358 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.
Definition at line 355 of file komodo_arm_arm_ikfast_moveit_plugin.cpp.