IKSolver Class Reference

List of all members.

Public Member Functions
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)
Static Public Member Functions
static void	polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)
static void	polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)
static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
static void	polyroots5 (IkReal rawcoeffs[5+1], IkReal rawroots[5], int &numroots)
static void	polyroots6 (IkReal rawcoeffs[6+1], IkReal rawroots[6], int &numroots)
static void	polyroots7 (IkReal rawcoeffs[7+1], IkReal rawroots[7], int &numroots)
static void	polyroots8 (IkReal rawcoeffs[8+1], IkReal rawroots[8], int &numroots)
Public Attributes
unsigned char	_ij10 [2]
unsigned char	_ij100 [2]
unsigned char	_ij11 [2]
unsigned char	_ij12 [2]
unsigned char	_ij6 [2]
unsigned char	_ij7 [2]
unsigned char	_ij8 [2]
unsigned char	_ij9 [2]
unsigned char	_nj10
unsigned char	_nj100
unsigned char	_nj11
unsigned char	_nj12
unsigned char	_nj6
unsigned char	_nj7
unsigned char	_nj8
unsigned char	_nj9
IkReal	cj10
IkReal	cj100
IkReal	cj11
IkReal	cj12
IkReal	cj6
IkReal	cj7
IkReal	cj8
IkReal	cj9
IkReal	htj10
IkReal	htj11
IkReal	htj12
IkReal	htj6
IkReal	htj7
IkReal	htj8
IkReal	htj9
IkReal	j10
IkReal	j100
IkReal	j10mul
IkReal	j11
IkReal	j11mul
IkReal	j12
IkReal	j12mul
IkReal	j6
IkReal	j7
IkReal	j7mul
IkReal	j8
IkReal	j8mul
IkReal	j9
IkReal	j9mul
IkReal	new_px
IkReal	new_py
IkReal	new_pz
IkReal	new_r00
IkReal	new_r01
IkReal	new_r02
IkReal	new_r10
IkReal	new_r11
IkReal	new_r12
IkReal	new_r20
IkReal	new_r21
IkReal	new_r22
IkReal	npx
IkReal	npy
IkReal	npz
IkReal	pp
IkReal	px
IkReal	py
IkReal	pz
IkReal	r00
IkReal	r01
IkReal	r02
IkReal	r10
IkReal	r11
IkReal	r12
IkReal	r20
IkReal	r21
IkReal	r22
IkReal	rxp0_0
IkReal	rxp0_1
IkReal	rxp0_2
IkReal	rxp1_0
IkReal	rxp1_1
IkReal	rxp1_2
IkReal	rxp2_0
IkReal	rxp2_1
IkReal	rxp2_2
IkReal	sj10
IkReal	sj100
IkReal	sj11
IkReal	sj12
IkReal	sj6
IkReal	sj7
IkReal	sj8
IkReal	sj9

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Detailed Description

Definition at line 383 of file fetch_arm_ikfast_solver.cpp.

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Member Function Documentation

bool IKSolver::ComputeIk	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions
	)		[inline]

Definition at line 390 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots2	(	IkReal	rawcoeffs[2+1],
		IkReal	rawroots[2],
		int &	numroots
	)		[inline, static]

Definition at line 17026 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots3	(	IkReal	rawcoeffs[3+1],
		IkReal	rawroots[3],
		int &	numroots
	)		[inline, static]

Definition at line 16948 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)		[inline, static]

Definition at line 17120 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots5	(	IkReal	rawcoeffs[5+1],
		IkReal	rawroots[5],
		int &	numroots
	)		[inline, static]

Definition at line 17042 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots6	(	IkReal	rawcoeffs[6+1],
		IkReal	rawroots[6],
		int &	numroots
	)		[inline, static]

Definition at line 17276 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots7	(	IkReal	rawcoeffs[7+1],
		IkReal	rawroots[7],
		int &	numroots
	)		[inline, static]

Definition at line 17198 of file fetch_arm_ikfast_solver.cpp.

static void IKSolver::polyroots8	(	IkReal	rawcoeffs[8+1],
		IkReal	rawroots[8],
		int &	numroots
	)		[inline, static]

Definition at line 17354 of file fetch_arm_ikfast_solver.cpp.

void IKSolver::rotationfunction0

(

IkSolutionListBase< IkReal > &

solutions

)

[inline]

Definition at line 7468 of file fetch_arm_ikfast_solver.cpp.

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Member Data Documentation

unsigned char IKSolver::_ij10[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij100[2]

Definition at line 389 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij11[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij12[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij6[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij7[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij8[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_ij9[2]

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj10

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj100

Definition at line 389 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj11

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj12

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj6

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj7

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj8

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

unsigned char IKSolver::_nj9

Definition at line 386 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::cj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::htj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j10mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j11mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j12mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j7mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j8mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::j9mul

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_px

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_py

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_pz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r00

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r01

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r02

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r20

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r21

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::new_r22

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::npx

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::npy

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::npz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::pp

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::px

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::py

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::pz

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r00

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r01

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r02

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r20

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r21

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::r22

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp0_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp1_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_0

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_1

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::rxp2_2

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj10

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj100

Definition at line 388 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj11

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj12

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj6

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj7

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj8

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

IkReal IKSolver::sj9

Definition at line 385 of file fetch_arm_ikfast_solver.cpp.

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The documentation for this class was generated from the following file:

• fetch_arm_ikfast_solver.cpp