Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
IKSolver Class Reference

#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
static void IKSolver::polyroots2 ( IkReal  rawcoeffs[2+1],
IkReal  rawroots[2],
int &  numroots 
)
inlinestatic
static void IKSolver::polyroots3 ( IkReal  rawcoeffs[3+1],
IkReal  rawroots[3],
int &  numroots 
)
inlinestatic
static void IKSolver::polyroots4 ( IkReal  rawcoeffs[4+1],
IkReal  rawroots[4],
int &  numroots 
)
inlinestatic
void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > &  solutions)
inline

Member Data Documentation

unsigned char IKSolver::_ij0[2]
unsigned char IKSolver::_ij1[2]
unsigned char IKSolver::_ij100[2]
unsigned char IKSolver::_ij2[2]
unsigned char IKSolver::_ij3[2]
unsigned char IKSolver::_ij4[2]
unsigned char IKSolver::_ij5[2]
unsigned char IKSolver::_nj0
unsigned char IKSolver::_nj1
unsigned char IKSolver::_nj100
unsigned char IKSolver::_nj2
unsigned char IKSolver::_nj3
unsigned char IKSolver::_nj4
unsigned char IKSolver::_nj5
IkReal IKSolver::cj0
IkReal IKSolver::cj1
IkReal IKSolver::cj100
IkReal IKSolver::cj2
IkReal IKSolver::cj3
IkReal IKSolver::cj4
IkReal IKSolver::cj5
IkReal IKSolver::htj0
IkReal IKSolver::htj1
IkReal IKSolver::htj2
IkReal IKSolver::htj3
IkReal IKSolver::htj4
IkReal IKSolver::htj5
IkReal IKSolver::j0
IkReal IKSolver::j0mul
IkReal IKSolver::j1
IkReal IKSolver::j100
IkReal IKSolver::j1mul
IkReal IKSolver::j2
IkReal IKSolver::j2mul
IkReal IKSolver::j3
IkReal IKSolver::j3mul
IkReal IKSolver::j4
IkReal IKSolver::j4mul
IkReal IKSolver::j5
IkReal IKSolver::j5mul
IkReal IKSolver::new_px
IkReal IKSolver::new_py
IkReal IKSolver::new_pz
IkReal IKSolver::new_r00
IkReal IKSolver::new_r01
IkReal IKSolver::new_r02
IkReal IKSolver::new_r10
IkReal IKSolver::new_r11
IkReal IKSolver::new_r12
IkReal IKSolver::new_r20
IkReal IKSolver::new_r21
IkReal IKSolver::new_r22
IkReal IKSolver::npx
IkReal IKSolver::npy
IkReal IKSolver::npz
IkReal IKSolver::pp
IkReal IKSolver::px
IkReal IKSolver::py
IkReal IKSolver::pz
IkReal IKSolver::r00
IkReal IKSolver::r01
IkReal IKSolver::r02
IkReal IKSolver::r10
IkReal IKSolver::r11
IkReal IKSolver::r12
IkReal IKSolver::r20
IkReal IKSolver::r21
IkReal IKSolver::r22
IkReal IKSolver::rxp0_0
IkReal IKSolver::rxp0_1
IkReal IKSolver::rxp0_2
IkReal IKSolver::rxp1_0
IkReal IKSolver::rxp1_1
IkReal IKSolver::rxp1_2
IkReal IKSolver::rxp2_0
IkReal IKSolver::rxp2_1
IkReal IKSolver::rxp2_2
IkReal IKSolver::sj0
IkReal IKSolver::sj1
IkReal IKSolver::sj100
IkReal IKSolver::sj2
IkReal IKSolver::sj3
IkReal IKSolver::sj4
IkReal IKSolver::sj5

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


kr6_r900_workspace_ikfast_manipulator_plugin
Author(s):
autogenerated on Thu Jul 18 2019 04:03:29