dual_quaternion.h
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
dual__quaternion_8h.html
math3d.h
dual_quaternion
double
dot
dual__quaternion_8h.html
a96bb2bef9c83b3728eb71fcc13036f10
(const dual_quaternion &a, const dual_quaternion &b)
dual_quaternion
exp
dual__quaternion_8h.html
a009dae60ba591f268b63605907bb04c8
(dual_quaternion a)
dual_quaternion
log
dual__quaternion_8h.html
a1d5f8768ffa9cf58933952bf3a31f330
(dual_quaternion a)
dual_quaternion
operator!
dual__quaternion_8h.html
aeefdcb1ede5f76c8907e7b649d01043c
(const dual_quaternion &a)
dual_quaternion
operator*
dual__quaternion_8h.html
a1ef585b5174cf9d7541fb042ee4d8476
(const dual_quaternion &a, const dual_quaternion &b)
std::ostream &
operator<<
dual__quaternion_8h.html
a641d392e8a26d15fdda082e06ce0330d
(std::ostream &out, const dual_quaternion &dq)
dual_quaternion
operator~
dual__quaternion_8h.html
aaff8a942c5ee18a007e1ef5d220acea5
(const dual_quaternion &a)
void
set_dual_quaternion_matrix
dual__quaternion_8h.html
a76a6d253a4599c3159727f7e080bce36
(matrix< double > &M, const dual_quaternion &dq, int i=0, int j=0, double w=1.0)
void
set_quaternion_matrix
dual__quaternion_8h.html
a8cd104f55138900f037b0fa398406ebf
(matrix< double > &M, const quaternion< double > &q, int i=0, int j=0, double w=1.0)
int
sign
dual__quaternion_8h.html
a213b31aea44a61fd7773dd1ff8665fc4
(T v)
kdl_tl.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
kdl__tl_8cpp.html
trac_ik/kdl_tl.hpp
KDL
kdl_tl.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
kdl__tl_8hpp.html
KDL::ChainIkSolverPos_TL
KDL
TRAC_IK
BasicJointType
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20
RotJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940
TransJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168
Continuous
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58
IMETHOD Twist
diffRelative
namespaceKDL.html
a909c50341bd06b4a13fd9c91f618b44b
(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
math3d.h
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
math3d_8h.html
math3d::color_rgb24
math3d::invalid_vector
math3d::matrix
math3d::matrix3x3
math3d::oriented_point3d
math3d::quaternion
math3d::triangle
math3d::vec3d
math3d
#define
M_PI
math3d_8h.html
ae71449b1cc6e6250b91f539153a7a0d3
vec3d< double >
normal3d
namespacemath3d.html
a3f6f3986347e93c0d2431d5812ded814
vec3d< double >
point3d
namespacemath3d.html
ac16b44a3f36c0f61a54c5f97a7c98c86
std::pair< matrix3x3< double >, point3d >
rigid_motion_t
namespacemath3d.html
a2a1ca474e454713bbffebd378dd4e86a
unsigned int
uint32_t
math3d_8h.html
a435d1572bf3f880d55459d9805097f62
unsigned char
uint8_t
math3d_8h.html
aba7bc1797add20fe3efdf37ced1182c5
bool
almost_zero
namespacemath3d.html
a6044b1be5a6dc8596fb09d80353119f8
(T a, double e)
void
conjugate
namespacemath3d.html
a0bcb3156a3df0ac31a405c62a142c161
(quaternion< T > &q)
vec3d< T >
cross_product
namespacemath3d.html
af819434f5430e6cdb7274aba561726a8
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dist
namespacemath3d.html
a34156307d61c636ea500c51cdd6678f2
(const T &p1, const T &p2)
T
dot
namespacemath3d.html
a977e5fd6f0f340a95bd70d300fe41201
(const quaternion< T > &a, const quaternion< T > &b)
T
dot_product
namespacemath3d.html
a639981f8728f401b5bbceb39bf372a12
(const quaternion< T > &p, const quaternion< T > &q)
double
dot_product
namespacemath3d.html
ac349d8ff1091579210f0869fa92ee783
(const vec3d< T > &v1, const vec3d< S > &v2)
T
dot_product
namespacemath3d.html
abc6e60b3c52ef34e426d2035ba133765
(const vec3d< T > &v1, const vec3d< T > &v2)
vec3d< T >
get_normalize
namespacemath3d.html
a9bcc8340bc2b3e0c6943756846a88f9b
(const vec3d< T > &p)
vec3d< T >
get_rotate
namespacemath3d.html
aafd75d6a9deabf0d59c5b9a3a88d95db
(const vec3d< T > &p, const matrix3x3< T > &rot)
vec3d< T >
get_rotate
namespacemath3d.html
a97329e36b3f1795b39464cddfb649972
(const vec3d< T > &v, const quaternion< T > &q)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a8a7e66fa0958c3eb02c6fa3db9575ea6
(const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
af768a196f9e52a080af4ead00a49eb71
(const vec3d< T > &p, const matrix< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
aff6eee3d95165f30bc9fe71ab7c8e734
(const vec3d< T > &p, const T *rot, const T *t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a1c6a35ac1e0007a6412eea5c1e69c10d
(const vec3d< T > &v, const quaternion< T > &rot, const point3d &t)
matrix3x3< T >
get_transpose
namespacemath3d.html
a7c969af14b05c0b77f2810124054b979
(const matrix3x3< T > &m)
matrix3x3< T >
identity3x3
namespacemath3d.html
ab33464abf2c62055e191055df961ba3c
()
void
invert
namespacemath3d.html
a4b73a8c08dcbb3cc875996a815cef551
(R &r, T &t)
double
magnitude
namespacemath3d.html
a6149f30261c16dab99f52c8496718f44
(const T &p)
double
median
namespacemath3d.html
a7a6d413c3fd8a41c1af00cdd9a710ae7
(Iterator start, Iterator end)
void
mult_matrix
namespacemath3d.html
a5cdd916e948d33f0e7970c6230738d1e
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_matrix
namespacemath3d.html
adc320801a7f208ff64f68ebbcdfa07fe
(const Rot1 &m1, const Rot2 &m2, Rot3 &r)
void
mult_matrix_inplace
namespacemath3d.html
a389a9726ee3b4a8aa669b27532486cd9
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_quaternion
namespacemath3d.html
ad630187b9430df515e76dd9f5af2902e
(const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r)
T
norm
namespacemath3d.html
a4bec8e5bb1312b5a2f12ac50541c4e5e
(const quaternion< T > &a)
double
norm2
namespacemath3d.html
a954432307872ae46e637a30dbcf4c014
(const T &v)
void
normalize
namespacemath3d.html
a5114f59f0561f3d80c4542fb0c3b8d69
(quaternion< T > &q)
double
normalize
namespacemath3d.html
a7a93e24bcac87fe99f526bf0c77d1739
(vec3d< T > &p)
quaternion< T >
operator*
namespacemath3d.html
a95813fdac8a5367ad196e4cfda97624a
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator+
namespacemath3d.html
a135f3dc74626c2d58d1d56fac5b23ed1
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator~
namespacemath3d.html
ac344a97ce3e073d7babc2e49959bbe61
(const quaternion< T > &a)
matrix3x3< T >
quaternion_to_rot_matrix
namespacemath3d.html
af12cd151bb50be9ce88ef6469bc5bfb5
(const quaternion< T > &q)
void
relative_motion
namespacemath3d.html
af12acf9586f48881698ac63e0fb08454
(const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij)
quaternion< T >
rot_matrix_to_quaternion
namespacemath3d.html
a001df62974d8314b513a46f591df8445
(const matrix3x3< T > &m)
void
rotate
namespacemath3d.html
a136e40d9439d02fe5766d386deb94859
(vec3d< T > &p, const matrix3x3< S > &rot)
void
rotate
namespacemath3d.html
a8061261dfbe6807e91bf0f0b83c73761
(vec3d< T > &p, const matrix3x3< T > &rot)
void
rotate
namespacemath3d.html
a7912e450c77cd86925aeb895966eacb7
(vec3d< T > &p, const matrix< S > &rot)
void
rotate
namespacemath3d.html
a3e8782ea8742c05bea04b1d10848bdbc
(vec3d< T > &p, const matrix< T > &rot)
void
rotate
namespacemath3d.html
aed1589940ab8397bb56e4de9a011c834
(vec3d< T > &p, const quaternion< T > &rot)
void
rotate_translate
namespacemath3d.html
a2e273ced84ce3ab79fb316717b00c0e2
(vec3d< T > &v, const RotationType &rot, const point3d &trans)
void
set_identity
namespacemath3d.html
a3cde300ae9781a9eb3557393ab055dee
(matrix3x3< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a05cbbe32c06121ef98ab195de35ee98b
(matrix< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a1a43556607165955ee62c9786e6c822d
(quaternion< T > &q)
double
squared_dist
namespacemath3d.html
af4fa74d780ab9d8c387044159944c8d5
(const vec3d< T > &p1, const vec3d< T > &p2)
void
transpose
namespacemath3d.html
a6cf66edb00aa93d337f8b77a0b81f397
(const matrix3x3< T > &src, matrix3x3< T > &dest)
void
transpose
namespacemath3d.html
a50d87711392ff38821bb1867f8459d29
(const matrix< T > &src, matrix< T > &dest)
void
transpose
namespacemath3d.html
a3d4b472c1eeda86f4a1e6c23ac67afae
(matrix3x3< T > &m)
void
transpose
namespacemath3d.html
a13aafc19fac89ac73b5ce1a1d63ed613
(matrix< T > &m)
static const double
deg_on_rad
namespacemath3d.html
a8f3db0db20a3556fa2ec98ef8a775ab6
static const double
pi
namespacemath3d.html
ae87c968fca69098c3f611f4819924fe8
static const double
rad_on_deg
namespacemath3d.html
a57a228035796970447a54f94759aeaec
nlopt_ik.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
nlopt__ik_8cpp.html
trac_ik/nlopt_ik.hpp
trac_ik/dual_quaternion.h
NLOPT_IK
void
constrainfuncm
namespaceNLOPT__IK.html
a48c1a6da9465a095574d5f56d97f9ea9
(uint m, double *result, uint n, const double *x, double *grad, void *data)
double
minfunc
namespaceNLOPT__IK.html
a8ae7fcc8897fd4b2c2df8f0a28981adb
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncDQ
namespaceNLOPT__IK.html
a0b7f0d20bbce67ad832d89edda3f6600
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncL2
namespaceNLOPT__IK.html
ad06855e1d11df63fa17566c2c8a8349d
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncSumSquared
namespaceNLOPT__IK.html
a13785f6e1ca2aedaa6c31596a1eebd5b
(const std::vector< double > &x, std::vector< double > &grad, void *data)
dual_quaternion
targetDQ
namespaceNLOPT__IK.html
a7a47e862bf31c8935280e2ed21d2d740
nlopt_ik.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
nlopt__ik_8hpp.html
trac_ik/kdl_tl.hpp
NLOPT_IK::NLOPT_IK
NLOPT_IK
OptType
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38a
Joint
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f
DualQuat
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09
SumSq
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f
L2
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317
trac_ik.cpp
/tmp/ws/src/trac_ik/trac_ik_lib/src/
trac__ik_8cpp.html
trac_ik/trac_ik.hpp
TRAC_IK
void
normalizeAngle
namespaceTRAC__IK.html
a63957187d69471f9b0922ab6f6e481b4
(double &val, const double &min, const double &max)
void
normalizeAngle
namespaceTRAC__IK.html
aaa556cea26caee6ea1cb4f27ff0bcdd5
(double &val, const double &target)
trac_ik.hpp
/tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/
trac__ik_8hpp.html
trac_ik/nlopt_ik.hpp
TRAC_IK::TRAC_IK
TRAC_IK
SolveType
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91
Speed
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99
Distance
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5
Manip1
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6
Manip2
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b
KDL::ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
int
CartToJnt
classKDL_1_1ChainIkSolverPos__TL.html
acb915f9097e22bd033f76de41d39426c
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero())
ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
a53a69d064e9b0e07662a343b5e9f80dd
(const Chain &chain, const JntArray &q_min, const JntArray &q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false)
void
setMaxtime
classKDL_1_1ChainIkSolverPos__TL.html
a5b6c07e49a5fa0261c29a1805b8d6f63
(double t)
~ChainIkSolverPos_TL
classKDL_1_1ChainIkSolverPos__TL.html
a1af237585ffc739b7c6fee700c3ac261
()
void
abort
classKDL_1_1ChainIkSolverPos__TL.html
a7b12c2ee452e2fcc91e61b4d818cc9c0
()
void
reset
classKDL_1_1ChainIkSolverPos__TL.html
aee8bd1a1ea9a8e5b9caae1e68a533373
()
static double
fRand
classKDL_1_1ChainIkSolverPos__TL.html
a92420f0bf65f5a84a80ab359b91e86be
(double min, double max)
bool
aborted
classKDL_1_1ChainIkSolverPos__TL.html
a6ae461021fa3d2f7a263cd485e8676af
KDL::Twist
bounds
classKDL_1_1ChainIkSolverPos__TL.html
a1eb21592a320349dda71250e8cffe7b9
const Chain
chain
classKDL_1_1ChainIkSolverPos__TL.html
a8be62d14a53eb95fed86e9d4655e2a3c
JntArray
delta_q
classKDL_1_1ChainIkSolverPos__TL.html
a490de643cbc984a49a8be7cc6fd7bb69
Twist
delta_twist
classKDL_1_1ChainIkSolverPos__TL.html
ab2d1f73a6578f46100ac32fcf65305c1
double
eps
classKDL_1_1ChainIkSolverPos__TL.html
a936d244d119424651f3ff15121dd7760
Frame
f
classKDL_1_1ChainIkSolverPos__TL.html
a2986b59c4a51a7575ebbe7fa15a73aa0
KDL::ChainFkSolverPos_recursive
fksolver
classKDL_1_1ChainIkSolverPos__TL.html
af0733255b211af2e56574d24ec5a8b6f
double
maxtime
classKDL_1_1ChainIkSolverPos__TL.html
ad374b83f7087c9b9ba95b5f3581582c5
JntArray
q_max
classKDL_1_1ChainIkSolverPos__TL.html
ae626dfb26ea3db5fd2cb5461267442e3
JntArray
q_min
classKDL_1_1ChainIkSolverPos__TL.html
a3e947ddac03c5eef02f5a2baa54dda7a
bool
rr
classKDL_1_1ChainIkSolverPos__TL.html
aa7501a5904aa301082c18c18fab9b00a
std::vector< KDL::BasicJointType >
types
classKDL_1_1ChainIkSolverPos__TL.html
a4749bd624f13a48420434170fed10061
KDL::ChainIkSolverVel_pinv
vik_solver
classKDL_1_1ChainIkSolverPos__TL.html
a7f137f3f09a507e886e4c11569143f61
bool
wrap
classKDL_1_1ChainIkSolverPos__TL.html
a87cb474977804ea6216fcf80890cb7f8
friend class
TRAC_IK::TRAC_IK
classKDL_1_1ChainIkSolverPos__TL.html
a81945572f6a8b9dd1864f6433549689c
math3d::color_rgb24
structmath3d_1_1color__rgb24.html
color_rgb24
structmath3d_1_1color__rgb24.html
a98c61e71b0e296759d62b009cfe46649
(uint8_t R, uint8_t G, uint8_t B)
uint8_t
b
structmath3d_1_1color__rgb24.html
a4f4865aadcd647fd6799c61817e8d865
uint8_t
g
structmath3d_1_1color__rgb24.html
a1ccc0a7eb966af426106962f44a46591
uint8_t
r
structmath3d_1_1color__rgb24.html
adf9c15dc5dfe4e70c37aa1ecc9e1d41a
dual_quaternion
structdual__quaternion.html
dual_quaternion
structdual__quaternion.html
ac62c1be24e57fa9eaf9242edea0371f2
(double v=1.0)
dual_quaternion &
exp
structdual__quaternion.html
a83780cfafc1150b5d30fa67b089a156f
()
point3d
get_translation
structdual__quaternion.html
ace1f35fd21a5b4b557edf729bd984c4f
()
dual_quaternion &
log
structdual__quaternion.html
a482799a3bd78cb3b073563bcbac0d670
()
dual_quaternion &
normalize
structdual__quaternion.html
a768afa2d1144c79a3a7bcf17b8cbc859
()
dual_quaternion &
operator*=
structdual__quaternion.html
a607d62d4c6f9baa87d3d851c5378b70d
(double a)
dual_quaternion &
operator+=
structdual__quaternion.html
a549dc195cf2516efe1b68ab5384eb027
(const dual_quaternion &a)
void
to_vector
structdual__quaternion.html
a5cae9b20969ab83acabed710320076f4
(double *p)
static dual_quaternion
convert
structdual__quaternion.html
aa12a1862743d459a08864924972a4139
(const double *p)
static dual_quaternion
rigid_transformation
structdual__quaternion.html
a5fba0f36b01709546950a47749d40eb6
(const quaternion< double > &r, const point3d &t)
quaternion< double >
R
structdual__quaternion.html
ad1d98ac3a9cdf7f4185195b164de6660
quaternion< double >
tR_2
structdual__quaternion.html
a2a67ab7931cf6f02759e530198686ca9
static constexpr double
dq_epsilon
structdual__quaternion.html
ae41ad8c90f3663ca2d119e6c42060a3d
math3d::invalid_vector
classmath3d_1_1invalid__vector.html
invalid_vector
classmath3d_1_1invalid__vector.html
a9bf9a0cf4b8100f225f2ee11d6abc02a
()
invalid_vector
classmath3d_1_1invalid__vector.html
aa3d7e208a0831f31fe34173a9200c51c
(const std::string &msg)
math3d::matrix
classmath3d_1_1matrix.html
super::const_iterator
const_iterator
classmath3d_1_1matrix.html
a7c01844815b6f9155f80ef80e8c1e122
super::iterator
iterator
classmath3d_1_1matrix.html
a35a6c10b4922047e7965413bbe8f5dfb
super::reference
at
classmath3d_1_1matrix.html
a645364baf04f21c563b895fbcfee1434
(const size_t r, const size_t c)
super::const_reference
at
classmath3d_1_1matrix.html
a19946e5e6248d0d81d1a9a963726b89b
(size_t r, size_t c) const
iterator
begin
classmath3d_1_1matrix.html
a77723a38cb4d3d3c72b17408baa9b47a
()
const_iterator
begin
classmath3d_1_1matrix.html
a5a09216ce98926ca11a5ad12a15bf470
() const
iterator
end
classmath3d_1_1matrix.html
aabb29aaccf4c0b16e908f305b209b6f0
()
const_iterator
end
classmath3d_1_1matrix.html
aeda4c3ab97ef70a379e4e6b2fbde25e2
() const
matrix
classmath3d_1_1matrix.html
a397551d5db05035aa340af6e785dd5e6
()
matrix
classmath3d_1_1matrix.html
af21315b87d22fd38a97754fec9930804
(const matrix< T > &m)
matrix
classmath3d_1_1matrix.html
a485a360ddac670925cf35f59607aceec
(int w, int h)
matrix
classmath3d_1_1matrix.html
a76c18cee63a4be66605d325885b98d0c
(int w, int h, const T &v)
bool
operator!=
classmath3d_1_1matrix.html
af06c325b74a58be86e85bcc3aa8383b2
(const matrix< T > &m) const
super::reference
operator()
classmath3d_1_1matrix.html
a9dcb53e06bf4744013c6bebd33bbbd25
(size_t r, size_t c)
super::const_reference
operator()
classmath3d_1_1matrix.html
a9196b8a9d7e39e15e4e67904894a90e8
(size_t r, size_t c) const
matrix< T > &
operator*=
classmath3d_1_1matrix.html
a2df8ab5516ca15f6959bb570a7bd3403
(const S &s)
matrix< T > &
operator/=
classmath3d_1_1matrix.html
ad1e98ba8c12cf50a4dad71d7894a8e99
(const S &s)
matrix &
operator=
classmath3d_1_1matrix.html
a8c7152a3e197c84727fa165ba27133c4
(const matrix< T > &m)
bool
operator==
classmath3d_1_1matrix.html
a17deba6a7567a4b6788ad7096ffb33a2
(const matrix< T > &m) const
void
resize
classmath3d_1_1matrix.html
ad96d503391e553b25fd16af6b2d42b69
(int w, int h)
size_t
size
classmath3d_1_1matrix.html
a4087bbea83f955ef0b8ccd6e239b1de9
() const
T *
to_ptr
classmath3d_1_1matrix.html
abb550aad56b9509edb88193f3e4cb07c
()
const T *
to_ptr
classmath3d_1_1matrix.html
a31e1a029da60741732062b0ea7842575
() const
const int &
height
classmath3d_1_1matrix.html
a4fb52bc202653062c85f81f80ec8d390
const int &
width
classmath3d_1_1matrix.html
a643b9be5bd5f1edb02a552e2c3bf072e
std::vector< T >
super
classmath3d_1_1matrix.html
acd85263742e39cf77a7757810f400cba
int
height_
classmath3d_1_1matrix.html
a1b866043a8ecae4227510f8f329bdbea
int
width_
classmath3d_1_1matrix.html
a14b591143209b17fde2bb9cd41089891
friend std::ostream &
operator<<
classmath3d_1_1matrix.html
a9970d6bd4e9147f83a89f77c35fd8fc6
(std::ostream &s, const matrix< T > &m)
math3d::matrix3x3
structmath3d_1_1matrix3x3.html
matrix3x3
structmath3d_1_1matrix3x3.html
ac1080faf4e6446189f410dab2893b800
()
matrix3x3
structmath3d_1_1matrix3x3.html
ac1fb0ad557c9832b9030a750e9f4f1c2
(const S *v)
T &
operator()
structmath3d_1_1matrix3x3.html
a69c918004fa5ad6d2638864b52afc4e4
(size_t row, size_t col)
const T &
operator()
structmath3d_1_1matrix3x3.html
afdbf01e9fe23f24a2d17a522c2103ae5
(size_t row, size_t col) const
void
set_column
structmath3d_1_1matrix3x3.html
a643494c19abf98c49ac97a6724861ae6
(size_t c, const vec3d< T > &v)
int
height
structmath3d_1_1matrix3x3.html
a061b6cd8e64cdfbe2da53109c5a2228d
T
r00
structmath3d_1_1matrix3x3.html
a7f280d0c2ad39574fd6dd13506461d66
T
r01
structmath3d_1_1matrix3x3.html
a7be507c7a931c050ae2164d591521300
T
r02
structmath3d_1_1matrix3x3.html
a95e154a7d96cf9629678a451d82ed6d4
T
r10
structmath3d_1_1matrix3x3.html
a7ba15351bd82371afeb04c1d8e34754d
T
r11
structmath3d_1_1matrix3x3.html
ad4d1aa86fc2ffe9fd4eb59b77d1ecb68
T
r12
structmath3d_1_1matrix3x3.html
ae4cba9e2e7b6767249dd72d15f417ab6
T
r20
structmath3d_1_1matrix3x3.html
ad553441f0ae9a30d0adf759b9520adad
T
r21
structmath3d_1_1matrix3x3.html
afb756a89e378ea25cbd7d7fabac97c70
T
r22
structmath3d_1_1matrix3x3.html
ab91dd1376465a017aa7d650bacac6c02
int
width
structmath3d_1_1matrix3x3.html
a6bd4dab33ee0c9a3522ba8e0c335ef73
friend std::ostream &
operator<<
structmath3d_1_1matrix3x3.html
a89cd5fbbe4fceb5214e79228bcd864f9
(std::ostream &s, const matrix3x3< T > &m)
NLOPT_IK::NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
void
cartDQError
classNLOPT__IK_1_1NLOPT__IK.html
aa5fae7e22eceef1a2334f152d796c6ab
(const std::vector< double > &x, double error[])
void
cartL2NormError
classNLOPT__IK_1_1NLOPT__IK.html
a73b6b8160ebbd9edaaf62af7eda1aced
(const std::vector< double > &x, double error[])
void
cartSumSquaredError
classNLOPT__IK_1_1NLOPT__IK.html
a2fe48c6b6658b80a4b4d0af5c60e975e
(const std::vector< double > &x, double error[])
int
CartToJnt
classNLOPT__IK_1_1NLOPT__IK.html
a2179617f946254ab5005567b80a01296
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray &q_desired=KDL::JntArray())
double
minJoints
classNLOPT__IK_1_1NLOPT__IK.html
a1c691fe035e434982d7572e7a63b5bde
(const std::vector< double > &x, std::vector< double > &grad)
NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
ac085096093f877e3aa6e48a051c901b4
(const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq)
void
setMaxtime
classNLOPT__IK_1_1NLOPT__IK.html
a7937363d4d3a0215725cb75915ffcdaf
(double t)
~NLOPT_IK
classNLOPT__IK_1_1NLOPT__IK.html
a901d896feb3f10fb927ca9ed3c8036f7
()
void
abort
classNLOPT__IK_1_1NLOPT__IK.html
ad628f7dc7461c0b68b1a7b2e7b25fc08
()
void
reset
classNLOPT__IK_1_1NLOPT__IK.html
a99f6079273541e0a549dacd9aba5e024
()
static double
fRand
classNLOPT__IK_1_1NLOPT__IK.html
abd91d4161fe56962841feaab7ad6d386
(double min, double max)
bool
aborted
classNLOPT__IK_1_1NLOPT__IK.html
a12b6ac0d2a2680dc3e4044cfcf977620
std::vector< double >
best_x
classNLOPT__IK_1_1NLOPT__IK.html
adbbe67c5a7e11a6b326fe5cb8753f506
KDL::Twist
bounds
classNLOPT__IK_1_1NLOPT__IK.html
a2e69733b948589f425ce5fa632a27145
const KDL::Chain
chain
classNLOPT__IK_1_1NLOPT__IK.html
a16988a8fe9e3cf2fba39e457ed6ce935
KDL::Frame
currentPose
classNLOPT__IK_1_1NLOPT__IK.html
abfa48523cce742507f6a4b7812cab47a
std::vector< double >
des
classNLOPT__IK_1_1NLOPT__IK.html
a3c6ed891dc5e207604b88c807de5ea23
double
eps
classNLOPT__IK_1_1NLOPT__IK.html
a1a50ce7e010ce2ee0c53e06d900ea5f7
KDL::ChainFkSolverPos_recursive
fksolver
classNLOPT__IK_1_1NLOPT__IK.html
a4fd4abb9eb2c17a7de4ad12adb2f1343
int
iter_counter
classNLOPT__IK_1_1NLOPT__IK.html
ac51822242bc76611678a02d69956fcb5
std::vector< double >
lb
classNLOPT__IK_1_1NLOPT__IK.html
a6361827b705b1189b8c88866a364d4e8
double
maxtime
classNLOPT__IK_1_1NLOPT__IK.html
a55792a7167e51cd523a0a7506bf1da32
nlopt::opt
opt
classNLOPT__IK_1_1NLOPT__IK.html
ace9525e69a40fa0a8c2a05498471bc44
int
progress
classNLOPT__IK_1_1NLOPT__IK.html
aa11d0afbc9bf667cd89dafbbe66c5fb0
KDL::Frame
targetPose
classNLOPT__IK_1_1NLOPT__IK.html
ac0e7e68e5629686616c72510e83db5fa
OptType
TYPE
classNLOPT__IK_1_1NLOPT__IK.html
aab42527969385a826427b546ffeec62b
std::vector< KDL::BasicJointType >
types
classNLOPT__IK_1_1NLOPT__IK.html
a983a26b6171c7f3d1032917e787f299a
std::vector< double >
ub
classNLOPT__IK_1_1NLOPT__IK.html
a293dcc7ed0913cbecc443279cee5a9c0
KDL::Frame
x_out
classNLOPT__IK_1_1NLOPT__IK.html
a6fa149ac41b7c63b8a5afbfbf29f9e24
KDL::Frame
x_target
classNLOPT__IK_1_1NLOPT__IK.html
a596db3ae8971bc812618a27516ee763b
KDL::Frame
y_out
classNLOPT__IK_1_1NLOPT__IK.html
ac21d9f8e38fea29231d5dac157aa6a76
KDL::Frame
y_target
classNLOPT__IK_1_1NLOPT__IK.html
a73807af7dd144151114d6707d17495cb
KDL::Frame
z_target
classNLOPT__IK_1_1NLOPT__IK.html
ac38179a467fe0e8361ceb8d8e9a19639
KDL::Frame
z_up
classNLOPT__IK_1_1NLOPT__IK.html
aa895ec01ba7fc4ba93745d49f64b0e06
friend class
TRAC_IK::TRAC_IK
classNLOPT__IK_1_1NLOPT__IK.html
a81945572f6a8b9dd1864f6433549689c
math3d::oriented_point3d
classmath3d_1_1oriented__point3d.html
math3d::vec3d
oriented_point3d
classmath3d_1_1oriented__point3d.html
a7aea86af7de03d0beb95e5ee4ff7c77e
()
oriented_point3d
classmath3d_1_1oriented__point3d.html
a0803a56f410adfc86d8842f152996fa6
(const oriented_point3d &p)
oriented_point3d
classmath3d_1_1oriented__point3d.html
ae3ca857974c220976755485aa1ad3072
(const point3d &p)
oriented_point3d
classmath3d_1_1oriented__point3d.html
abe2d1a1236e363834a8e8b63b752e865
(const point3d &p, const normal3d &nn)
oriented_point3d
classmath3d_1_1oriented__point3d.html
a529201e252c911f55eb6353f1979617b
(double xx, double yy, double zz)
normal3d
n
classmath3d_1_1oriented__point3d.html
ace4f95d6b6bca8a96063a22b006ec48f
math3d::quaternion
structmath3d_1_1quaternion.html
quaternion< T > &
operator*=
structmath3d_1_1quaternion.html
ac14a0fc109dea3e9fedab60a61ec5520
(T a)
quaternion< T > &
operator+=
structmath3d_1_1quaternion.html
a50529e56a0b88bbc9d8951e1e1728c17
(const quaternion< T > &a)
quaternion
structmath3d_1_1quaternion.html
a6211f03d73932fab3ed0921d0368e8ec
(T v=0)
quaternion
structmath3d_1_1quaternion.html
aef247ee044dfb341179cfd0dae37ac81
(T ww, T ii, T jj, T kk)
void
to_vector
structmath3d_1_1quaternion.html
accec8857fe0d682df1209627882c5e86
(T *p) const
static quaternion< T >
convert
structmath3d_1_1quaternion.html
a2568d5443d6f5362e6252710d12cb006
(const T *p)
static quaternion< T >
convert
structmath3d_1_1quaternion.html
a1d5de4882a0033e79444465d886b4c1e
(const vec3d< T > &p)
T
i
structmath3d_1_1quaternion.html
a232b6f5a82ffd2cdc779731b86e7cb28
T
j
structmath3d_1_1quaternion.html
ab2d084766b9edfc2cd179370027ebf9f
T
k
structmath3d_1_1quaternion.html
ad645abbe05d6aaba9b32d983d93a467b
T
w
structmath3d_1_1quaternion.html
a6a055ac4743a21b1e79918ab13d252cd
friend std::ostream &
operator<<
structmath3d_1_1quaternion.html
a9bc3b039311e5571b40ffbdd339bdf22
(std::ostream &os, const quaternion< T > &q)
friend std::istream &
operator>>
structmath3d_1_1quaternion.html
a950b7d40654282e902fe113d9e4932ac
(std::istream &is, quaternion< T > &q)
quaternion< double >
structmath3d_1_1quaternion.html
quaternion< double > &
operator*=
structmath3d_1_1quaternion.html
ac14a0fc109dea3e9fedab60a61ec5520
(double a)
quaternion< double > &
operator+=
structmath3d_1_1quaternion.html
a50529e56a0b88bbc9d8951e1e1728c17
(const quaternion< double > &a)
quaternion
structmath3d_1_1quaternion.html
a6211f03d73932fab3ed0921d0368e8ec
(double v=0)
quaternion
structmath3d_1_1quaternion.html
aef247ee044dfb341179cfd0dae37ac81
(double ww, double ii, double jj, double kk)
void
to_vector
structmath3d_1_1quaternion.html
accec8857fe0d682df1209627882c5e86
(double *p) const
static quaternion< double >
convert
structmath3d_1_1quaternion.html
a2568d5443d6f5362e6252710d12cb006
(const double *p)
static quaternion< double >
convert
structmath3d_1_1quaternion.html
a1d5de4882a0033e79444465d886b4c1e
(const vec3d< double > &p)
double
i
structmath3d_1_1quaternion.html
a232b6f5a82ffd2cdc779731b86e7cb28
double
j
structmath3d_1_1quaternion.html
ab2d084766b9edfc2cd179370027ebf9f
double
k
structmath3d_1_1quaternion.html
ad645abbe05d6aaba9b32d983d93a467b
double
w
structmath3d_1_1quaternion.html
a6a055ac4743a21b1e79918ab13d252cd
friend std::ostream &
operator<<
structmath3d_1_1quaternion.html
a9bc3b039311e5571b40ffbdd339bdf22
(std::ostream &os, const quaternion< double > &q)
friend std::istream &
operator>>
structmath3d_1_1quaternion.html
a950b7d40654282e902fe113d9e4932ac
(std::istream &is, quaternion< double > &q)
TRAC_IK::TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
int
CartToJnt
classTRAC__IK_1_1TRAC__IK.html
af093d155f2d79105c6ec62c02cf47e1a
(const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero())
bool
getKDLChain
classTRAC__IK_1_1TRAC__IK.html
acf36ae6b9773eed5992648f6d5912599
(KDL::Chain &chain_)
bool
getKDLLimits
classTRAC__IK_1_1TRAC__IK.html
afc911c3ec0270fa2420c208cb5aee2b5
(KDL::JntArray &lb_, KDL::JntArray &ub_)
bool
getSolutions
classTRAC__IK_1_1TRAC__IK.html
aab8afe8d42e3dfbcf7632cd9e28e75e0
(std::vector< KDL::JntArray > &solutions_)
bool
getSolutions
classTRAC__IK_1_1TRAC__IK.html
afdfad6e949566a8ada113dd8bb3efc13
(std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_)
bool
setKDLLimits
classTRAC__IK_1_1TRAC__IK.html
a6256c70ae947482ea594a0bd76249cd5
(KDL::JntArray &lb_, KDL::JntArray &ub_)
void
SetSolveType
classTRAC__IK_1_1TRAC__IK.html
a32120c7560aadc3171dc290a640737fa
(SolveType _type)
TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a65aa7452b9056ef45cdc1b4180620823
(const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a18ca0ea66603bc72118cbef14969cca1
(const std::string &base_link, const std::string &tip_link, const std::string &URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed)
~TRAC_IK
classTRAC__IK_1_1TRAC__IK.html
a31e642b69a1d44550f8d1d994be57ea8
()
static double
JointErr
classTRAC__IK_1_1TRAC__IK.html
a13c5d0206917db768becab25c33f44af
(const KDL::JntArray &arr1, const KDL::JntArray &arr2)
void
initialize
classTRAC__IK_1_1TRAC__IK.html
ab72d2d56d2ff4e63c3b5f105043bb302
()
double
manipPenalty
classTRAC__IK_1_1TRAC__IK.html
abe2d44c14074c55fa14720a588ce4576
(const KDL::JntArray &)
double
ManipValue1
classTRAC__IK_1_1TRAC__IK.html
a34db35355efb42b86fc147f48aa9f7ab
(const KDL::JntArray &)
double
ManipValue2
classTRAC__IK_1_1TRAC__IK.html
a5a4e7f37158a3c8e030683f514172766
(const KDL::JntArray &)
bool
myEqual
classTRAC__IK_1_1TRAC__IK.html
a6eb6bb1aef3980630679c8c2d8523201
(const KDL::JntArray &a, const KDL::JntArray &b)
void
normalize_limits
classTRAC__IK_1_1TRAC__IK.html
a28f151c846797c72625d6d7c3fec72b1
(const KDL::JntArray &seed, KDL::JntArray &solution)
void
normalize_seed
classTRAC__IK_1_1TRAC__IK.html
a80eb8bf32c2cdbe581669ff8fff272ed
(const KDL::JntArray &seed, KDL::JntArray &solution)
bool
runKDL
classTRAC__IK_1_1TRAC__IK.html
ae03a3b4ecd0d0632c95132770ef82fe3
(const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
runNLOPT
classTRAC__IK_1_1TRAC__IK.html
ab65051bb1f90a87692cfa14dab4ffa4d
(const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
runSolver
classTRAC__IK_1_1TRAC__IK.html
a2a254329bfe00c6864aefcd328b9dd35
(T1 &solver, T2 &other_solver, const KDL::JntArray &q_init, const KDL::Frame &p_in)
bool
unique_solution
classTRAC__IK_1_1TRAC__IK.html
a9ca8475c2d48c37acedd8a7a5e6a7da7
(const KDL::JntArray &sol)
static double
fRand
classTRAC__IK_1_1TRAC__IK.html
a9a1337377a4db4667b394534fa4562a0
(double min, double max)
KDL::Twist
bounds
classTRAC__IK_1_1TRAC__IK.html
af99e9de674cd2e2fe60598ba91fac539
KDL::Chain
chain
classTRAC__IK_1_1TRAC__IK.html
a09dfa6ee0c733e7356406d2450c804e8
double
eps
classTRAC__IK_1_1TRAC__IK.html
afc17ca9a1dbd386d2a3cd349056be843
std::vector< std::pair< double, uint > >
errors
classTRAC__IK_1_1TRAC__IK.html
a80a88d1b321a5d960242bd607dcfb7d1
std::unique_ptr< KDL::ChainIkSolverPos_TL >
iksolver
classTRAC__IK_1_1TRAC__IK.html
ae1b38a9beaeb4d1ecfaf7e0f580030a0
bool
initialized
classTRAC__IK_1_1TRAC__IK.html
a540fbe827d1173f33c0efe8542c158e1
std::unique_ptr< KDL::ChainJntToJacSolver >
jacsolver
classTRAC__IK_1_1TRAC__IK.html
a9cfdb82a3b161a1e7287310dbf395f73
KDL::JntArray
lb
classTRAC__IK_1_1TRAC__IK.html
afd8e538233cabde078268e6d63203a22
double
maxtime
classTRAC__IK_1_1TRAC__IK.html
a7fb309b121b1573766faceabb580209f
std::mutex
mtx_
classTRAC__IK_1_1TRAC__IK.html
ad62f958dc5067066ec1d93af601abe98
std::unique_ptr< NLOPT_IK::NLOPT_IK >
nl_solver
classTRAC__IK_1_1TRAC__IK.html
a55c6726d308f83f884c74b11ac260b13
std::vector< KDL::JntArray >
solutions
classTRAC__IK_1_1TRAC__IK.html
a9b7e6ab187bfd5d5864fab253f9a8a6b
SolveType
solvetype
classTRAC__IK_1_1TRAC__IK.html
a0ece917580656c1470359a48237e0bc6
boost::posix_time::ptime
start_time
classTRAC__IK_1_1TRAC__IK.html
a971c58a8a772bd106962960163ac0996
std::thread
task1
classTRAC__IK_1_1TRAC__IK.html
aea819b3cffd8237dcfdafa082f35a72f
std::thread
task2
classTRAC__IK_1_1TRAC__IK.html
aa70dc0f23a6c9bdd3ff4697d04b0b373
std::vector< KDL::BasicJointType >
types
classTRAC__IK_1_1TRAC__IK.html
ac371778ab75d862aa5a84c8b382b68a5
KDL::JntArray
ub
classTRAC__IK_1_1TRAC__IK.html
aa768035c49c0e984d9fb0ae2c3243530
math3d::triangle
structmath3d_1_1triangle.html
triangle
structmath3d_1_1triangle.html
a8a2744455f063e3bf54c94c58c0919ff
()
triangle
structmath3d_1_1triangle.html
a6f2c03ec1dbd09e70ccafe63d02c33de
(const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_)
triangle
structmath3d_1_1triangle.html
a1281b8ee33e6b4fb4bb3a835a64de861
(const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_, int id0_, int id1_, int id2_)
triangle
structmath3d_1_1triangle.html
a8bbb629ffe457e22ed0655637cbd70eb
(const point3d &p0_, const point3d &p1_, const point3d &p2_, const normal3d &n_)
triangle
structmath3d_1_1triangle.html
acede05b13468e85ae1156f1fd64f7af5
(int id0, int id1, int id2)
int
id0
structmath3d_1_1triangle.html
ac8004ed1ded5950c4eef8261d6915e22
int
id1
structmath3d_1_1triangle.html
ad3505d4dddc0942841f430b88c039dfd
int
id2
structmath3d_1_1triangle.html
abc04a393acb00fb0a7116397533521df
normal3d
n
structmath3d_1_1triangle.html
a8db3846876bcbf4d19ee9637a19288e5
oriented_point3d
p0
structmath3d_1_1triangle.html
ac28fa405b122973e492add98a512d13a
oriented_point3d
p1
structmath3d_1_1triangle.html
a0ea69e8e6c83002db432b1c7ad2cdff1
oriented_point3d
p2
structmath3d_1_1triangle.html
aaa2244afbb836c5bd624049f8e541776
friend std::ostream &
operator<<
structmath3d_1_1triangle.html
a7086a8d2df1a322dd8213e5c59de805a
(std::ostream &o, const triangle &t)
math3d::vec3d
structmath3d_1_1vec3d.html
bool
operator!=
structmath3d_1_1vec3d.html
a91c5096d8e13a0d4b24f9de03e48418a
(const vec3d &o) const
bool
operator!=
structmath3d_1_1vec3d.html
a2a0a981c8b69b53e1c650c44fda3c67e
(const vec3d< S > &o) const
vec3d< T > &
operator*=
structmath3d_1_1vec3d.html
a8ffd24431fd760005b86441785b7e185
(const Scalar &s)
vec3d< T >
operator+
structmath3d_1_1vec3d.html
ac91cfdcebb5312a68bc1cd25e092f1bb
(const vec3d< T > &p) const
vec3d< T > &
operator+=
structmath3d_1_1vec3d.html
a07ec0bcbb17af08c89969789448c4b1a
(const vec3d< S > &p)
vec3d< T > &
operator+=
structmath3d_1_1vec3d.html
aa2eaa811441797b45201c693d784ee5a
(const vec3d< T > &p)
vec3d< T >
operator-
structmath3d_1_1vec3d.html
a0edaefcf100380f31eec3601a9d910f7
() const
vec3d< T >
operator-
structmath3d_1_1vec3d.html
a0d0a4b8e8e077a2618d4b03ceec9e6e9
(const vec3d< T > &p) const
vec3d< T > &
operator-=
structmath3d_1_1vec3d.html
a33456a8c2d6aaac5f5a87e20b1defcb4
(const vec3d< S > &p)
vec3d< T > &
operator-=
structmath3d_1_1vec3d.html
a46ad32e1f627711c2a5b41e8b422f478
(const vec3d< T > &p)
vec3d< T > &
operator/=
structmath3d_1_1vec3d.html
aa926acf0369aec45764ccafb9bd558f2
(const Scalar &s)
bool
operator==
structmath3d_1_1vec3d.html
a099cb1b45a33fea8c5b2359e62092dea
(const vec3d &o) const
bool
operator==
structmath3d_1_1vec3d.html
a207d66e9eb4e8a39085e1afc74f3ca94
(const vec3d< S > &o) const
vec3d
structmath3d_1_1vec3d.html
a9d7b1f79b7a7882a251aad9e79e4a27f
()
vec3d
structmath3d_1_1vec3d.html
a76d9267dcd3be29de7d2c239f1fc012f
(const S *s)
vec3d
structmath3d_1_1vec3d.html
a9e9785b3bbc5014e9bc39a430fc3e44f
(const vec3d< S > &s)
vec3d
structmath3d_1_1vec3d.html
a54f1c54162b7a8c1430145a4d71cbfbc
(T x_, T y_, T z_)
T
x
structmath3d_1_1vec3d.html
a1065770533920946d1bf3a8f831da3fe
T
y
structmath3d_1_1vec3d.html
abe4b25501b8a64362041ae1430f78437
T
z
structmath3d_1_1vec3d.html
aaccba4853c63f6cc8e9978eb537c347f
friend vec3d< T >
operator*
structmath3d_1_1vec3d.html
a494bc797b53db59c392dd32a04177176
(const Scalar &s, const vec3d< T > &p)
friend vec3d< T >
operator*
structmath3d_1_1vec3d.html
a90f5d14e018ba0af49b8e42ac05f0332
(const vec3d< T > &p, const Scalar &s)
friend vec3d< T >
operator/
structmath3d_1_1vec3d.html
a4291c2d36d9af1d5aa56f163947282fe
(const vec3d< T > &p, const Scalar &s)
friend std::ostream &
operator<<
structmath3d_1_1vec3d.html
ae0eafe2f2679d5a343477e68096f1439
(std::ostream &os, const vec3d< T > &p)
friend std::istream &
operator>>
structmath3d_1_1vec3d.html
aed4695fbef265668a232a8981b11f184
(std::istream &is, vec3d< T > &p)
vec3d< double >
structmath3d_1_1vec3d.html
bool
operator!=
structmath3d_1_1vec3d.html
a91c5096d8e13a0d4b24f9de03e48418a
(const vec3d &o) const
bool
operator!=
structmath3d_1_1vec3d.html
a2a0a981c8b69b53e1c650c44fda3c67e
(const vec3d< S > &o) const
vec3d< double > &
operator*=
structmath3d_1_1vec3d.html
a8ffd24431fd760005b86441785b7e185
(const Scalar &s)
vec3d< double >
operator+
structmath3d_1_1vec3d.html
ac91cfdcebb5312a68bc1cd25e092f1bb
(const vec3d< double > &p) const
vec3d< double > &
operator+=
structmath3d_1_1vec3d.html
aa2eaa811441797b45201c693d784ee5a
(const vec3d< double > &p)
vec3d< double > &
operator+=
structmath3d_1_1vec3d.html
a07ec0bcbb17af08c89969789448c4b1a
(const vec3d< S > &p)
vec3d< double >
operator-
structmath3d_1_1vec3d.html
a0edaefcf100380f31eec3601a9d910f7
() const
vec3d< double >
operator-
structmath3d_1_1vec3d.html
a0d0a4b8e8e077a2618d4b03ceec9e6e9
(const vec3d< double > &p) const
vec3d< double > &
operator-=
structmath3d_1_1vec3d.html
a46ad32e1f627711c2a5b41e8b422f478
(const vec3d< double > &p)
vec3d< double > &
operator-=
structmath3d_1_1vec3d.html
a33456a8c2d6aaac5f5a87e20b1defcb4
(const vec3d< S > &p)
vec3d< double > &
operator/=
structmath3d_1_1vec3d.html
aa926acf0369aec45764ccafb9bd558f2
(const Scalar &s)
bool
operator==
structmath3d_1_1vec3d.html
a099cb1b45a33fea8c5b2359e62092dea
(const vec3d &o) const
bool
operator==
structmath3d_1_1vec3d.html
a207d66e9eb4e8a39085e1afc74f3ca94
(const vec3d< S > &o) const
vec3d
structmath3d_1_1vec3d.html
a9d7b1f79b7a7882a251aad9e79e4a27f
()
vec3d
structmath3d_1_1vec3d.html
a76d9267dcd3be29de7d2c239f1fc012f
(const S *s)
vec3d
structmath3d_1_1vec3d.html
a9e9785b3bbc5014e9bc39a430fc3e44f
(const vec3d< S > &s)
vec3d
structmath3d_1_1vec3d.html
a54f1c54162b7a8c1430145a4d71cbfbc
(double x_, double y_, double z_)
double
x
structmath3d_1_1vec3d.html
a1065770533920946d1bf3a8f831da3fe
double
y
structmath3d_1_1vec3d.html
abe4b25501b8a64362041ae1430f78437
double
z
structmath3d_1_1vec3d.html
aaccba4853c63f6cc8e9978eb537c347f
friend vec3d< double >
operator*
structmath3d_1_1vec3d.html
a494bc797b53db59c392dd32a04177176
(const Scalar &s, const vec3d< double > &p)
friend vec3d< double >
operator*
structmath3d_1_1vec3d.html
a90f5d14e018ba0af49b8e42ac05f0332
(const vec3d< double > &p, const Scalar &s)
friend vec3d< double >
operator/
structmath3d_1_1vec3d.html
a4291c2d36d9af1d5aa56f163947282fe
(const vec3d< double > &p, const Scalar &s)
friend std::ostream &
operator<<
structmath3d_1_1vec3d.html
ae0eafe2f2679d5a343477e68096f1439
(std::ostream &os, const vec3d< double > &p)
friend std::istream &
operator>>
structmath3d_1_1vec3d.html
aed4695fbef265668a232a8981b11f184
(std::istream &is, vec3d< double > &p)
KDL
namespaceKDL.html
KDL::ChainIkSolverPos_TL
BasicJointType
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20
RotJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940
TransJoint
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168
Continuous
namespaceKDL.html
ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58
IMETHOD Twist
diffRelative
namespaceKDL.html
a909c50341bd06b4a13fd9c91f618b44b
(const Frame &F_a_b1, const Frame &F_a_b2, double dt=1)
math3d
namespacemath3d.html
math3d::color_rgb24
math3d::invalid_vector
math3d::matrix
math3d::matrix3x3
math3d::oriented_point3d
math3d::quaternion
math3d::triangle
math3d::vec3d
vec3d< double >
normal3d
namespacemath3d.html
a3f6f3986347e93c0d2431d5812ded814
vec3d< double >
point3d
namespacemath3d.html
ac16b44a3f36c0f61a54c5f97a7c98c86
std::pair< matrix3x3< double >, point3d >
rigid_motion_t
namespacemath3d.html
a2a1ca474e454713bbffebd378dd4e86a
bool
almost_zero
namespacemath3d.html
a6044b1be5a6dc8596fb09d80353119f8
(T a, double e)
void
conjugate
namespacemath3d.html
a0bcb3156a3df0ac31a405c62a142c161
(quaternion< T > &q)
vec3d< T >
cross_product
namespacemath3d.html
af819434f5430e6cdb7274aba561726a8
(const vec3d< T > &v1, const vec3d< T > &v2)
double
dist
namespacemath3d.html
a34156307d61c636ea500c51cdd6678f2
(const T &p1, const T &p2)
T
dot
namespacemath3d.html
a977e5fd6f0f340a95bd70d300fe41201
(const quaternion< T > &a, const quaternion< T > &b)
T
dot_product
namespacemath3d.html
a639981f8728f401b5bbceb39bf372a12
(const quaternion< T > &p, const quaternion< T > &q)
double
dot_product
namespacemath3d.html
ac349d8ff1091579210f0869fa92ee783
(const vec3d< T > &v1, const vec3d< S > &v2)
T
dot_product
namespacemath3d.html
abc6e60b3c52ef34e426d2035ba133765
(const vec3d< T > &v1, const vec3d< T > &v2)
vec3d< T >
get_normalize
namespacemath3d.html
a9bcc8340bc2b3e0c6943756846a88f9b
(const vec3d< T > &p)
vec3d< T >
get_rotate
namespacemath3d.html
aafd75d6a9deabf0d59c5b9a3a88d95db
(const vec3d< T > &p, const matrix3x3< T > &rot)
vec3d< T >
get_rotate
namespacemath3d.html
a97329e36b3f1795b39464cddfb649972
(const vec3d< T > &v, const quaternion< T > &q)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a8a7e66fa0958c3eb02c6fa3db9575ea6
(const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
af768a196f9e52a080af4ead00a49eb71
(const vec3d< T > &p, const matrix< T > &rot, const point3d &t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
aff6eee3d95165f30bc9fe71ab7c8e734
(const vec3d< T > &p, const T *rot, const T *t)
vec3d< T >
get_rotate_translate
namespacemath3d.html
a1c6a35ac1e0007a6412eea5c1e69c10d
(const vec3d< T > &v, const quaternion< T > &rot, const point3d &t)
matrix3x3< T >
get_transpose
namespacemath3d.html
a7c969af14b05c0b77f2810124054b979
(const matrix3x3< T > &m)
matrix3x3< T >
identity3x3
namespacemath3d.html
ab33464abf2c62055e191055df961ba3c
()
void
invert
namespacemath3d.html
a4b73a8c08dcbb3cc875996a815cef551
(R &r, T &t)
double
magnitude
namespacemath3d.html
a6149f30261c16dab99f52c8496718f44
(const T &p)
double
median
namespacemath3d.html
a7a6d413c3fd8a41c1af00cdd9a710ae7
(Iterator start, Iterator end)
void
mult_matrix
namespacemath3d.html
a5cdd916e948d33f0e7970c6230738d1e
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_matrix
namespacemath3d.html
adc320801a7f208ff64f68ebbcdfa07fe
(const Rot1 &m1, const Rot2 &m2, Rot3 &r)
void
mult_matrix_inplace
namespacemath3d.html
a389a9726ee3b4a8aa669b27532486cd9
(const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r)
void
mult_quaternion
namespacemath3d.html
ad630187b9430df515e76dd9f5af2902e
(const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r)
T
norm
namespacemath3d.html
a4bec8e5bb1312b5a2f12ac50541c4e5e
(const quaternion< T > &a)
double
norm2
namespacemath3d.html
a954432307872ae46e637a30dbcf4c014
(const T &v)
void
normalize
namespacemath3d.html
a5114f59f0561f3d80c4542fb0c3b8d69
(quaternion< T > &q)
double
normalize
namespacemath3d.html
a7a93e24bcac87fe99f526bf0c77d1739
(vec3d< T > &p)
quaternion< T >
operator*
namespacemath3d.html
a95813fdac8a5367ad196e4cfda97624a
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator+
namespacemath3d.html
a135f3dc74626c2d58d1d56fac5b23ed1
(const quaternion< T > &a, const quaternion< T > &b)
quaternion< T >
operator~
namespacemath3d.html
ac344a97ce3e073d7babc2e49959bbe61
(const quaternion< T > &a)
matrix3x3< T >
quaternion_to_rot_matrix
namespacemath3d.html
af12cd151bb50be9ce88ef6469bc5bfb5
(const quaternion< T > &q)
void
relative_motion
namespacemath3d.html
af12acf9586f48881698ac63e0fb08454
(const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij)
quaternion< T >
rot_matrix_to_quaternion
namespacemath3d.html
a001df62974d8314b513a46f591df8445
(const matrix3x3< T > &m)
void
rotate
namespacemath3d.html
a136e40d9439d02fe5766d386deb94859
(vec3d< T > &p, const matrix3x3< S > &rot)
void
rotate
namespacemath3d.html
a8061261dfbe6807e91bf0f0b83c73761
(vec3d< T > &p, const matrix3x3< T > &rot)
void
rotate
namespacemath3d.html
a7912e450c77cd86925aeb895966eacb7
(vec3d< T > &p, const matrix< S > &rot)
void
rotate
namespacemath3d.html
a3e8782ea8742c05bea04b1d10848bdbc
(vec3d< T > &p, const matrix< T > &rot)
void
rotate
namespacemath3d.html
aed1589940ab8397bb56e4de9a011c834
(vec3d< T > &p, const quaternion< T > &rot)
void
rotate_translate
namespacemath3d.html
a2e273ced84ce3ab79fb316717b00c0e2
(vec3d< T > &v, const RotationType &rot, const point3d &trans)
void
set_identity
namespacemath3d.html
a3cde300ae9781a9eb3557393ab055dee
(matrix3x3< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a05cbbe32c06121ef98ab195de35ee98b
(matrix< T > &m, T val=1)
void
set_identity
namespacemath3d.html
a1a43556607165955ee62c9786e6c822d
(quaternion< T > &q)
double
squared_dist
namespacemath3d.html
af4fa74d780ab9d8c387044159944c8d5
(const vec3d< T > &p1, const vec3d< T > &p2)
void
transpose
namespacemath3d.html
a6cf66edb00aa93d337f8b77a0b81f397
(const matrix3x3< T > &src, matrix3x3< T > &dest)
void
transpose
namespacemath3d.html
a50d87711392ff38821bb1867f8459d29
(const matrix< T > &src, matrix< T > &dest)
void
transpose
namespacemath3d.html
a3d4b472c1eeda86f4a1e6c23ac67afae
(matrix3x3< T > &m)
void
transpose
namespacemath3d.html
a13aafc19fac89ac73b5ce1a1d63ed613
(matrix< T > &m)
static const double
deg_on_rad
namespacemath3d.html
a8f3db0db20a3556fa2ec98ef8a775ab6
static const double
pi
namespacemath3d.html
ae87c968fca69098c3f611f4819924fe8
static const double
rad_on_deg
namespacemath3d.html
a57a228035796970447a54f94759aeaec
NLOPT_IK
namespaceNLOPT__IK.html
NLOPT_IK::NLOPT_IK
OptType
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38a
Joint
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f
DualQuat
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09
SumSq
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f
L2
namespaceNLOPT__IK.html
a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317
void
constrainfuncm
namespaceNLOPT__IK.html
a48c1a6da9465a095574d5f56d97f9ea9
(uint m, double *result, uint n, const double *x, double *grad, void *data)
double
minfunc
namespaceNLOPT__IK.html
a8ae7fcc8897fd4b2c2df8f0a28981adb
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncDQ
namespaceNLOPT__IK.html
a0b7f0d20bbce67ad832d89edda3f6600
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncL2
namespaceNLOPT__IK.html
ad06855e1d11df63fa17566c2c8a8349d
(const std::vector< double > &x, std::vector< double > &grad, void *data)
double
minfuncSumSquared
namespaceNLOPT__IK.html
a13785f6e1ca2aedaa6c31596a1eebd5b
(const std::vector< double > &x, std::vector< double > &grad, void *data)
dual_quaternion
targetDQ
namespaceNLOPT__IK.html
a7a47e862bf31c8935280e2ed21d2d740
TRAC_IK
namespaceTRAC__IK.html
TRAC_IK::TRAC_IK
SolveType
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91
Speed
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99
Distance
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5
Manip1
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6
Manip2
namespaceTRAC__IK.html
af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b
void
normalizeAngle
namespaceTRAC__IK.html
a63957187d69471f9b0922ab6f6e481b4
(double &val, const double &min, const double &max)
void
normalizeAngle
namespaceTRAC__IK.html
aaa556cea26caee6ea1cb4f27ff0bcdd5
(double &val, const double &target)