#include <ur_kinematics/ur_kin.h>#include <math.h>#include <stdio.h>#include <ur_kinematics/ikfast.h>
Include dependency graph for ur_kin.cpp:
Go to the source code of this file.
Namespaces | |
| namespace | ur_kinematics |
Defines | |
| #define | IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] |
| #define | IKFAST_HAS_LIBRARY |
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 | ur_kinematics::forward_all (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6) |
| 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 () |
| IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61) | |
| int | ur_kinematics::inverse (const double *T, double *q_sols, double q6_des=0.0) |
| int | main (int argc, char *argv[]) |
| void | to_mat44 (double *mat4_4, const IkReal *eetrans, const IkReal *eerot) |
Define Documentation
| #define IKFAST_COMPILE_ASSERT | ( | x | ) | extern int __dummy[(int)x] |
Definition at line 359 of file ur_kin.cpp.
| #define IKFAST_HAS_LIBRARY |
Definition at line 354 of file ur_kin.cpp.
Function Documentation
| IKFAST_API void ComputeFk | ( | const IkReal * | j, |
| IkReal * | eetrans, | ||
| IkReal * | eerot | ||
| ) |
Definition at line 412 of file ur_kin.cpp.
| IKFAST_API bool ComputeIk | ( | const IkReal * | eetrans, |
| const IkReal * | eerot, | ||
| const IkReal * | pfree, | ||
| IkSolutionListBase< IkReal > & | solutions | ||
| ) |
Definition at line 391 of file ur_kin.cpp.
| void from_mat44 | ( | const double * | mat4_4, |
| IkReal * | eetrans, | ||
| IkReal * | eerot | ||
| ) |
Definition at line 380 of file ur_kin.cpp.
| IKFAST_API int* GetFreeParameters | ( | ) |
Definition at line 420 of file ur_kin.cpp.
| IKFAST_API int GetIkRealSize | ( | ) |
Definition at line 423 of file ur_kin.cpp.
| IKFAST_API int GetNumFreeParameters | ( | ) |
Definition at line 419 of file ur_kin.cpp.
| IKFAST_API int GetNumJoints | ( | ) |
Definition at line 421 of file ur_kin.cpp.
| IKFAST_COMPILE_ASSERT | ( | IKFAST_VERSION | = =61 | ) |
| int main | ( | int | argc, |
| char * | argv[] | ||
| ) |
Definition at line 434 of file ur_kin.cpp.
| void to_mat44 | ( | double * | mat4_4, |
| const IkReal * | eetrans, | ||
| const IkReal * | eerot | ||
| ) |
Definition at line 366 of file ur_kin.cpp.