Classes |
| class | katana_450_6m90a_kinematics::IKFastKinematicsPlugin |
| class | katana_450_6m90a_kinematics::IKSolver |
Namespaces |
| namespace | katana_450_6m90a_kinematics |
Defines |
| #define | IKFAST_NO_MAIN |
Enumerations |
| enum | katana_450_6m90a_kinematics::IkParameterizationType {
katana_450_6m90a_kinematics::IKP_None = 0,
katana_450_6m90a_kinematics::IKP_Transform6D = 0x67000001,
katana_450_6m90a_kinematics::IKP_Rotation3D = 0x34000002,
katana_450_6m90a_kinematics::IKP_Translation3D = 0x33000003,
katana_450_6m90a_kinematics::IKP_Direction3D = 0x23000004,
katana_450_6m90a_kinematics::IKP_Ray4D = 0x46000005,
katana_450_6m90a_kinematics::IKP_Lookat3D = 0x23000006,
katana_450_6m90a_kinematics::IKP_TranslationDirection5D = 0x56000007,
katana_450_6m90a_kinematics::IKP_TranslationXY2D = 0x22000008,
katana_450_6m90a_kinematics::IKP_TranslationXYOrientation3D = 0x33000009,
katana_450_6m90a_kinematics::IKP_TranslationLocalGlobal6D = 0x3600000a,
katana_450_6m90a_kinematics::IKP_TranslationXAxisAngle4D = 0x4400000b,
katana_450_6m90a_kinematics::IKP_TranslationYAxisAngle4D = 0x4400000c,
katana_450_6m90a_kinematics::IKP_TranslationZAxisAngle4D = 0x4400000d,
katana_450_6m90a_kinematics::IKP_TranslationXAxisAngleZNorm4D = 0x4400000e,
katana_450_6m90a_kinematics::IKP_TranslationYAxisAngleXNorm4D = 0x4400000f,
katana_450_6m90a_kinematics::IKP_TranslationZAxisAngleYNorm4D = 0x44000010,
katana_450_6m90a_kinematics::IKP_NumberOfParameterizations = 16,
katana_450_6m90a_kinematics::IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit,
katana_450_6m90a_kinematics::IKP_UniqueIdMask = 0x0000ffff,
katana_450_6m90a_kinematics::IKP_CustomDataBit = 0x00010000
} |
| | The types of inverse kinematics parameterizations supported. More...
|
| enum | SEARCH_MODE { OPTIMIZE_FREE_JOINT = 1,
OPTIMIZE_MAX_JOINT = 2
} |
| | Search modes for searchPositionIK(), see there. More...
|
Functions |
| IKFAST_API void | katana_450_6m90a_kinematics::ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot) |
| IKFAST_API bool | katana_450_6m90a_kinematics::ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions) |
| void | katana_450_6m90a_kinematics::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 | katana_450_6m90a_kinematics::dgesv_ (const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info) |
| void | katana_450_6m90a_kinematics::dgetrf_ (const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info) |
| void | katana_450_6m90a_kinematics::dgetri_ (const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info) |
| void | katana_450_6m90a_kinematics::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 int * | katana_450_6m90a_kinematics::GetFreeParameters () |
| IKFAST_API const char * | katana_450_6m90a_kinematics::GetIkFastVersion () |
| IKFAST_API int | katana_450_6m90a_kinematics::GetIkRealSize () |
| IKFAST_API int | katana_450_6m90a_kinematics::GetIkType () |
| IKFAST_API const char * | katana_450_6m90a_kinematics::GetKinematicsHash () |
| IKFAST_API int | katana_450_6m90a_kinematics::GetNumFreeParameters () |
| IKFAST_API int | katana_450_6m90a_kinematics::GetNumJoints () |
| float | katana_450_6m90a_kinematics::IKabs (float f) |
| double | katana_450_6m90a_kinematics::IKabs (double f) |
| float | katana_450_6m90a_kinematics::IKacos (float f) |
| double | katana_450_6m90a_kinematics::IKacos (double f) |
| float | katana_450_6m90a_kinematics::IKasin (float f) |
| double | katana_450_6m90a_kinematics::IKasin (double f) |
| float | katana_450_6m90a_kinematics::IKatan2 (float fy, float fx) |
| double | katana_450_6m90a_kinematics::IKatan2 (double fy, double fx) |
| float | katana_450_6m90a_kinematics::IKcos (float f) |
| double | katana_450_6m90a_kinematics::IKcos (double f) |
| | katana_450_6m90a_kinematics::IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61) |
| float | katana_450_6m90a_kinematics::IKfmod (float x, float y) |
| double | katana_450_6m90a_kinematics::IKfmod (double x, double y) |
| float | katana_450_6m90a_kinematics::IKlog (float f) |
| double | katana_450_6m90a_kinematics::IKlog (double f) |
| float | katana_450_6m90a_kinematics::IKsign (float f) |
| double | katana_450_6m90a_kinematics::IKsign (double f) |
| float | katana_450_6m90a_kinematics::IKsin (float f) |
| double | katana_450_6m90a_kinematics::IKsin (double f) |
| float | katana_450_6m90a_kinematics::IKsqr (float f) |
| double | katana_450_6m90a_kinematics::IKsqr (double f) |
| float | katana_450_6m90a_kinematics::IKsqrt (float f) |
| double | katana_450_6m90a_kinematics::IKsqrt (double f) |
| float | katana_450_6m90a_kinematics::IKtan (float f) |
| double | katana_450_6m90a_kinematics::IKtan (double f) |
| | PLUGINLIB_EXPORT_CLASS (katana_450_6m90a_kinematics::IKFastKinematicsPlugin, kinematics::KinematicsBase) |
| void | katana_450_6m90a_kinematics::zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info) |
Variables |
| const double | LIMIT_TOLERANCE = .0000001 |
