Classes | Macros | Functions
katana_450_6m90a_ikfast_solver.cpp File Reference
#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
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Classes

class  IKSolver
 

Macros

#define __PRETTY_FUNCTION__   __func__
 
#define __PRETTY_FUNCTION__   __func__
 
#define IK2PI   ((IkReal)6.28318530717959)
 
#define IK2PI   ((IkReal)6.28318530717959)
 
#define IKFAST_ALIGNED16(x)   x __attribute((aligned(16)))
 
#define IKFAST_ALIGNED16(x)   x __attribute((aligned(16)))
 
#define IKFAST_ASSERT(b)   { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
 
#define IKFAST_ASSERT(b)   { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
 
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)
 
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)
 
#define IKFAST_COMPILE_ASSERT(x)   extern int __dummy[(int)x]
 
#define IKFAST_COMPILE_ASSERT(x)   extern int __dummy[(int)x]
 
#define IKFAST_HAS_LIBRARY
 
#define IKFAST_HAS_LIBRARY
 
#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)
 
#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)
 
#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)
 
#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)
 
#define IKFAST_STRINGIZE(s)   IKFAST_STRINGIZE2(s)
 
#define IKFAST_STRINGIZE(s)   IKFAST_STRINGIZE2(s)
 
#define IKFAST_STRINGIZE2(s)   #s
 
#define IKFAST_STRINGIZE2(s)   #s
 
#define IKPI   ((IkReal)3.14159265358979)
 
#define IKPI   ((IkReal)3.14159265358979)
 
#define IKPI_2   ((IkReal)1.57079632679490)
 
#define IKPI_2   ((IkReal)1.57079632679490)
 

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 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 dgesv_ (const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
 
void dgetrf_ (const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
 
void dgetri_ (const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
 
void 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 * GetFreeParameters ()
 
IKFAST_API const char * GetIkFastVersion ()
 
IKFAST_API int GetIkRealSize ()
 
IKFAST_API int GetIkType ()
 
IKFAST_API const char * GetKinematicsHash ()
 
IKFAST_API int GetNumFreeParameters ()
 
IKFAST_API int GetNumJoints ()
 
float IKabs (float f)
 
double IKabs (double f)
 
float IKacos (float f)
 
double IKacos (double f)
 
float IKasin (float f)
 
double IKasin (double f)
 
float IKatan2 (float fy, float fx)
 
double IKatan2 (double fy, double fx)
 
float IKcos (float f)
 
double IKcos (double f)
 
 IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)
 
float IKfmod (float x, float y)
 
double IKfmod (double x, double y)
 
float IKlog (float f)
 
double IKlog (double f)
 
float IKsign (float f)
 
double IKsign (double f)
 
float IKsin (float f)
 
double IKsin (double f)
 
float IKsqr (float f)
 
double IKsqr (double f)
 
float IKsqrt (float f)
 
double IKsqrt (double f)
 
float IKtan (float f)
 
double IKtan (double f)
 
int main (int argc, char **argv)
 
void zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
 

Macro Definition Documentation

#define __PRETTY_FUNCTION__   __func__
#define __PRETTY_FUNCTION__   __func__

Definition at line 49 of file katana_450_6m90a_ikfast_solver.cpp.

#define IK2PI   ((IkReal)6.28318530717959)
#define IK2PI   ((IkReal)6.28318530717959)

Definition at line 62 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_ALIGNED16 (   x)    x __attribute((aligned(16)))

Definition at line 59 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_ALIGNED16 (   x)    x __attribute((aligned(16)))
#define IKFAST_ASSERT (   b)    { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }

Definition at line 52 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_ASSERT (   b)    { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)

Definition at line 104 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_COMPILE_ASSERT (   x)    extern int __dummy[(int)x]
#define IKFAST_COMPILE_ASSERT (   x)    extern int __dummy[(int)x]

Definition at line 25 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_HAS_LIBRARY
#define IKFAST_HAS_LIBRARY

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author
Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 61 generated on 2013-06-28 15:11:30.888996 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 20 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)

Definition at line 99 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)
#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)

Definition at line 109 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)
#define IKFAST_STRINGIZE (   s)    IKFAST_STRINGIZE2(s)
#define IKFAST_STRINGIZE (   s)    IKFAST_STRINGIZE2(s)

Definition at line 35 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKFAST_STRINGIZE2 (   s)    #s
#define IKFAST_STRINGIZE2 (   s)    #s

Definition at line 34 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKPI   ((IkReal)3.14159265358979)

Definition at line 63 of file katana_450_6m90a_ikfast_solver.cpp.

#define IKPI   ((IkReal)3.14159265358979)
#define IKPI_2   ((IkReal)1.57079632679490)
#define IKPI_2   ((IkReal)1.57079632679490)

Definition at line 64 of file katana_450_6m90a_ikfast_solver.cpp.

Function Documentation

IKFAST_API void ComputeFk ( const IkReal *  j,
IkReal *  eetrans,
IkReal *  eerot 
)

solves the forward kinematics equations.

Parameters
pfreeis an array specifying the free joints of the chain.

Definition at line 210 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API bool ComputeIk ( const IkReal *  eetrans,
const IkReal *  eerot,
const IkReal *  pfree,
IkSolutionListBase< IkReal > &  solutions 
)

solves the inverse kinematics equations.

Parameters
pfreeis an array specifying the free joints of the chain.

Definition at line 1471 of file katana_450_6m90a_ikfast_solver.cpp.

void 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 dgesv_ ( const int *  n,
const int *  nrhs,
double *  a,
const int *  lda,
int *  ipiv,
double *  b,
const int *  ldb,
int *  info 
)
void dgetrf_ ( const int *  m,
const int *  n,
double *  a,
const int *  lda,
int *  ipiv,
int *  info 
)
void dgetri_ ( const int *  n,
const double *  a,
const int *  lda,
int *  ipiv,
double *  work,
const int *  lwork,
int *  info 
)
void 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* GetFreeParameters ( )

Definition at line 253 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API const char* GetIkFastVersion ( )

Definition at line 1478 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API int GetIkRealSize ( )

Definition at line 256 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API int GetIkType ( )

Definition at line 258 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API const char* GetKinematicsHash ( )

Definition at line 1476 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API int GetNumFreeParameters ( )

Definition at line 252 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_API int GetNumJoints ( )

Definition at line 254 of file katana_450_6m90a_ikfast_solver.cpp.

float IKabs ( float  f)
inline

Definition at line 88 of file katana_450_6m90a_ikfast_solver.cpp.

double IKabs ( double  f)
inline

Definition at line 89 of file katana_450_6m90a_ikfast_solver.cpp.

float IKacos ( float  f)
inline

Definition at line 145 of file katana_450_6m90a_ikfast_solver.cpp.

double IKacos ( double  f)
inline

Definition at line 152 of file katana_450_6m90a_ikfast_solver.cpp.

float IKasin ( float  f)
inline

Definition at line 112 of file katana_450_6m90a_ikfast_solver.cpp.

double IKasin ( double  f)
inline

Definition at line 119 of file katana_450_6m90a_ikfast_solver.cpp.

float IKatan2 ( float  fy,
float  fx 
)
inline

Definition at line 167 of file katana_450_6m90a_ikfast_solver.cpp.

double IKatan2 ( double  fy,
double  fx 
)
inline

Definition at line 177 of file katana_450_6m90a_ikfast_solver.cpp.

float IKcos ( float  f)
inline

Definition at line 161 of file katana_450_6m90a_ikfast_solver.cpp.

double IKcos ( double  f)
inline

Definition at line 162 of file katana_450_6m90a_ikfast_solver.cpp.

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION  = =61)
float IKfmod ( float  x,
float  y 
)
inline

Definition at line 128 of file katana_450_6m90a_ikfast_solver.cpp.

double IKfmod ( double  x,
double  y 
)
inline

Definition at line 137 of file katana_450_6m90a_ikfast_solver.cpp.

float IKlog ( float  f)
inline

Definition at line 94 of file katana_450_6m90a_ikfast_solver.cpp.

double IKlog ( double  f)
inline

Definition at line 95 of file katana_450_6m90a_ikfast_solver.cpp.

float IKsign ( float  f)
inline

Definition at line 188 of file katana_450_6m90a_ikfast_solver.cpp.

double IKsign ( double  f)
inline

Definition at line 198 of file katana_450_6m90a_ikfast_solver.cpp.

float IKsin ( float  f)
inline

Definition at line 159 of file katana_450_6m90a_ikfast_solver.cpp.

double IKsin ( double  f)
inline

Definition at line 160 of file katana_450_6m90a_ikfast_solver.cpp.

float IKsqr ( float  f)
inline

Definition at line 91 of file katana_450_6m90a_ikfast_solver.cpp.

double IKsqr ( double  f)
inline

Definition at line 92 of file katana_450_6m90a_ikfast_solver.cpp.

float IKsqrt ( float  f)
inline

Definition at line 165 of file katana_450_6m90a_ikfast_solver.cpp.

double IKsqrt ( double  f)
inline

Definition at line 166 of file katana_450_6m90a_ikfast_solver.cpp.

float IKtan ( float  f)
inline

Definition at line 163 of file katana_450_6m90a_ikfast_solver.cpp.

double IKtan ( double  f)
inline

Definition at line 164 of file katana_450_6m90a_ikfast_solver.cpp.

int main ( int  argc,
char **  argv 
)

Definition at line 1490 of file katana_450_6m90a_ikfast_solver.cpp.

void zgetrf_ ( const int *  m,
const int *  n,
std::complex< double > *  a,
const int *  lda,
int *  ipiv,
int *  info 
)


katana_moveit_ikfast_plugin
Author(s): Martin G√ľnther
autogenerated on Fri Jan 3 2020 04:01:08