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

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 413 of file motoman_mh5_manipulator_ikfast_solver.cpp.

Member Function Documentation

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

Definition at line 426 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

Definition at line 51346 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

Definition at line 51264 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

Definition at line 51363 of file motoman_mh5_manipulator_ikfast_solver.cpp.

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

Definition at line 1106 of file motoman_mh5_manipulator_ikfast_solver.cpp.

Member Data Documentation

unsigned char IKSolver::_ij0[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij1[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij100[2]

Definition at line 425 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij2[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij3[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij4[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_ij5[2]

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj0

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj1

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj100

Definition at line 425 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj2

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj3

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj4

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

unsigned char IKSolver::_nj5

Definition at line 421 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::cj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::htj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j0mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j1mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j2mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j3mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j4mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::j5mul

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_px

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_py

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_pz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r00

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r01

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r02

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r10

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r11

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r12

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r20

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r21

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::new_r22

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npx

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npy

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::npz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::pp

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::px

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::py

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::pz

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r00

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r01

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r02

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r10

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r11

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r12

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r20

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r21

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::r22

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp0_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp1_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::rxp2_2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj0

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj1

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj100

Definition at line 424 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj2

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj3

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj4

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.

IkReal IKSolver::sj5

Definition at line 415 of file motoman_mh5_manipulator_ikfast_solver.cpp.


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


motoman_mh5_ikfast_manipulator_plugin
Author(s):
autogenerated on Sat Sep 26 2020 03:53:09