#include <kr6_r900_workspace_manipulator_ikfast_solver.hpp>

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)

Public Attributes
unsigned char	_ij0 [2]

unsigned char	_ij1 [2]

unsigned char	_ij100 [2]

unsigned char	_ij2 [2]

unsigned char	_ij3 [2]

unsigned char	_ij4 [2]

unsigned char	_ij5 [2]

unsigned char	_nj0

unsigned char	_nj1

unsigned char	_nj100

unsigned char	_nj2

unsigned char	_nj3

unsigned char	_nj4

unsigned char	_nj5

IkReal	cj0

IkReal	cj1

IkReal	cj100

IkReal	cj2

IkReal	cj3

IkReal	cj4

IkReal	cj5

IkReal	htj0

IkReal	htj1

IkReal	htj2

IkReal	htj3

IkReal	htj4

IkReal	htj5

IkReal	j0

IkReal	j0mul

IkReal	j1

IkReal	j100

IkReal	j1mul

IkReal	j2

IkReal	j2mul

IkReal	j3

IkReal	j3mul

IkReal	j4

IkReal	j4mul

IkReal	j5

IkReal	j5mul

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	sj0

IkReal	sj1

IkReal	sj100

IkReal	sj2

IkReal	sj3

IkReal	sj4

IkReal	sj5

Detailed Description

Definition at line 373 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

Member Function Documentation

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

inline

Definition at line 380 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

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

inlinestatic

Definition at line 9759 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

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

inlinestatic

Definition at line 9681 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

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

inlinestatic

Definition at line 9775 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > & solutions )

inline

Definition at line 822 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

Member Data Documentation

unsigned char IKSolver::_ij0[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij1[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij100[2]

Definition at line 379 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij2[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij3[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij4[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_ij5[2]

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj0

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj1

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj100

Definition at line 379 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj2

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj3

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj4

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

unsigned char IKSolver::_nj5

Definition at line 376 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj100

Definition at line 378 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj3

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj4

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::cj5

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj3

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj4

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::htj5

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j0mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j100

Definition at line 378 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j1mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j2mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j3

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j3mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j4

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j4mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j5

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::j5mul

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_px

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_py

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_pz

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r00

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r01

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r02

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r10

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r11

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r12

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r20

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r21

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::new_r22

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::npx

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::npy

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::npz

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::pp

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::px

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::py

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::pz

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r00

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r01

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r02

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r10

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r11

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r12

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r20

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r21

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::r22

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp0_0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp0_1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp0_2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp1_0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp1_1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp1_2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp2_0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp2_1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::rxp2_2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj0

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj1

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj100

Definition at line 378 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj2

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj3

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj4

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

IkReal IKSolver::sj5

Definition at line 375 of file kr6_r900_workspace_manipulator_ikfast_solver.hpp.

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

kr6_r900_workspace_manipulator_ikfast_solver.hpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

Member Data Documentation