Classes | Namespaces | Defines | Enumerations | Functions | Variables
katana_450_6m90a_ikfast_plugin.cpp File Reference
#include <ros/ros.h>
#include <moveit/kinematics_base/kinematics_base.h>
#include <urdf/model.h>
#include <tf_conversions/tf_kdl.h>
#include "katana_450_6m90a_ikfast_solver.cpp"
#include <pluginlib/class_list_macros.h>
Include dependency graph for katana_450_6m90a_ikfast_plugin.cpp:

Go to the source code of this file.

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

Define Documentation

#define IKFAST_NO_MAIN

Definition at line 65 of file katana_450_6m90a_ikfast_plugin.cpp.


Enumeration Type Documentation

Search modes for searchPositionIK(), see there.

Enumerator:
OPTIMIZE_FREE_JOINT 
OPTIMIZE_MAX_JOINT 

Definition at line 57 of file katana_450_6m90a_ikfast_plugin.cpp.


Function Documentation


Variable Documentation

const double LIMIT_TOLERANCE = .0000001

Definition at line 55 of file katana_450_6m90a_ikfast_plugin.cpp.



katana_moveit_ikfast_plugin
Author(s): Martin G√ľnther
autogenerated on Mon Aug 14 2017 02:43:58