abb2400_ikfast_tests.cpp File Reference

#include <opw_kinematics/opw_macros.h>
#include <gtest/gtest.h>
#include <array>
#include "ikfast.h"
#include "opw_kinematics/opw_kinematics.h"
#include "opw_kinematics/opw_parameters_examples.h"

Include dependency graph for abb2400_ikfast_tests.cpp:

Go to the source code of this file.

Classes
struct	PoseGenerator

Typedefs
using	Transform = opw_kinematics::Transform< double >

Functions
void	compare (ikfast::IkSolutionList< double > &ikf, std::array< double, 6 *8 > &opw)
size_t	countValidSolutions (const std::array< double, 6 *8 > &opw)
bool	findSolInSet (const std::vector< double > &s, const std::array< double, 6 *8 > &opw)
int	main (int argc, char **argv)
static double	normalize_angle (double angle)
	normalize More...
static double	normalize_angle_positive (double angle)
	normalize_angle_positive More...
void	printResults (const std::array< double, 6 *8 > &sols)
static double	shortest_angular_distance (double from, double to)
	shortest_angular_distance More...
void	solveIKFast (const Transform &p, ikfast::IkSolutionList< double > &sols)
void	solveOPW (const opw_kinematics::Parameters< double > &param, const Transform &p, std::array< double, 6 *8 > &sols)
	TEST (ikfast_to_opw, similar_solutions)

Typedef Documentation

using Transform = opw_kinematics::Transform<double>

Definition at line 11 of file abb2400_ikfast_tests.cpp.

Function Documentation

void compare	(	ikfast::IkSolutionList< double > &	ikf,
		std::array< double, 6 *8 > &	opw
	)

Definition at line 163 of file abb2400_ikfast_tests.cpp.

size_t countValidSolutions

(

const std::array< double, 6 *8 > &

opw

)

Definition at line 64 of file abb2400_ikfast_tests.cpp.

bool findSolInSet	(	const std::vector< double > &	s,
		const std::array< double, 6 *8 > &	opw
	)

Definition at line 130 of file abb2400_ikfast_tests.cpp.

int main	(	int	argc,
		char **	argv
	)

Definition at line 219 of file abb2400_ikfast_tests.cpp.

static double normalize_angle ( double  angle )

inlinestatic

normalize

Normalizes the angle to be -M_PI circle to +M_PI circle It takes and returns radians.

Definition at line 103 of file abb2400_ikfast_tests.cpp.

static double normalize_angle_positive ( double  angle )

inlinestatic

normalize_angle_positive

Normalizes the angle to be 0 to 2*M_PI It takes and returns radians.

Definition at line 90 of file abb2400_ikfast_tests.cpp.

void printResults

(

const std::array< double, 6 *8 > &

sols

)

Definition at line 152 of file abb2400_ikfast_tests.cpp.

static double shortest_angular_distance ( double  from, double  to  )

inlinestatic

shortest_angular_distance

Given 2 angles, this returns the shortest angular difference. The inputs and ouputs are of course radians.

The result would always be -pi <= result <= pi. Adding the result to "from" will always get you an equivelent angle to "to".

Definition at line 124 of file abb2400_ikfast_tests.cpp.

void solveIKFast	(	const Transform &	p,
		ikfast::IkSolutionList< double > &	sols
	)

Definition at line 37 of file abb2400_ikfast_tests.cpp.

void solveOPW	(	const opw_kinematics::Parameters< double > &	param,
		const Transform &	p,
		std::array< double, 6 *8 > &	sols
	)

Definition at line 58 of file abb2400_ikfast_tests.cpp.

TEST	(	ikfast_to_opw	,
		similar_solutions
	)

Definition at line 191 of file abb2400_ikfast_tests.cpp.