ikfast_kinematics_plugin Namespace Reference

Classes
class	IKFastKinematicsPlugin

Enumerations
enum	IkParameterizationType {   IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003,   IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007,   IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b,   IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f,   IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,   IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,   IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,   IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,   IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff,   IKP_CustomDataBit = 0x00010000, IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002,   IKP_Translation3D =0x33000003, IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006,   IKP_TranslationDirection5D =0x56000007, IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a,   IKP_TranslationXAxisAngle4D =0x4400000b, IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e,   IKP_TranslationYAxisAngleXNorm4D =0x4400000f, IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000,   IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit,   IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit,   IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit,   IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit,   IKP_UniqueIdMask = 0x0000ffff, IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...
enum	IkParameterizationType {   IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002, IKP_Translation3D =0x33000003,   IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006, IKP_TranslationDirection5D =0x56000007,   IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a, IKP_TranslationXAxisAngle4D =0x4400000b,   IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e, IKP_TranslationYAxisAngleXNorm4D =0x4400000f,   IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000, IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit,   IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit, IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit,   IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit, IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit,   IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit,   IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit, IKP_UniqueIdMask = 0x0000ffff,   IKP_CustomDataBit = 0x00010000, IKP_None =0, IKP_Transform6D =0x67000001, IKP_Rotation3D =0x34000002,   IKP_Translation3D =0x33000003, IKP_Direction3D =0x23000004, IKP_Ray4D =0x46000005, IKP_Lookat3D =0x23000006,   IKP_TranslationDirection5D =0x56000007, IKP_TranslationXY2D =0x22000008, IKP_TranslationXYOrientation3D =0x33000009, IKP_TranslationLocalGlobal6D =0x3600000a,   IKP_TranslationXAxisAngle4D =0x4400000b, IKP_TranslationYAxisAngle4D =0x4400000c, IKP_TranslationZAxisAngle4D =0x4400000d, IKP_TranslationXAxisAngleZNorm4D =0x4400000e,   IKP_TranslationYAxisAngleXNorm4D =0x4400000f, IKP_TranslationZAxisAngleYNorm4D =0x44000010, IKP_NumberOfParameterizations =16, IKP_VelocityDataBit = 0x00008000,   IKP_Transform6DVelocity = IKP_Transform6D|IKP_VelocityDataBit, IKP_Rotation3DVelocity = IKP_Rotation3D|IKP_VelocityDataBit, IKP_Translation3DVelocity = IKP_Translation3D|IKP_VelocityDataBit, IKP_Direction3DVelocity = IKP_Direction3D|IKP_VelocityDataBit,   IKP_Ray4DVelocity = IKP_Ray4D|IKP_VelocityDataBit, IKP_Lookat3DVelocity = IKP_Lookat3D|IKP_VelocityDataBit, IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D|IKP_VelocityDataBit, IKP_TranslationXY2DVelocity = IKP_TranslationXY2D|IKP_VelocityDataBit,   IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D|IKP_VelocityDataBit, IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D|IKP_VelocityDataBit, IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D|IKP_VelocityDataBit,   IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D|IKP_VelocityDataBit, IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D|IKP_VelocityDataBit, IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D|IKP_VelocityDataBit, IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D|IKP_VelocityDataBit,   IKP_UniqueIdMask = 0x0000ffff, IKP_CustomDataBit = 0x00010000 }
	The types of inverse kinematics parameterizations supported. More...

Enumeration Type Documentation

IkParameterizationType [1/2]

enum ikfast_kinematics_plugin::IkParameterizationType

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

Enumerator
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXY2D	2D translation along XY plane
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.
IKP_TranslationXAxisAngleZNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngleXNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngleYNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXY2D	2D translation along XY plane
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.
IKP_TranslationXAxisAngleZNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngleXNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngleYNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations

Definition at line 66 of file fanuc_m430ia2f_manipulator_ikfast_moveit_plugin.cpp.

IkParameterizationType [2/2]

enum ikfast_kinematics_plugin::IkParameterizationType

The types of inverse kinematics parameterizations supported.

The minimum degree of freedoms required is set in the upper 4 bits of each type. The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. The lower bits contain a unique id of the type.

Enumerator
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXY2D	2D translation along XY plane
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.
IKP_TranslationXAxisAngleZNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngleXNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngleYNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations
IKP_None
IKP_Transform6D	end effector reaches desired 6D transformation
IKP_Rotation3D	end effector reaches desired 3D rotation
IKP_Translation3D	end effector origin reaches desired 3D translation
IKP_Direction3D	direction on end effector coordinate system reaches desired direction
IKP_Ray4D	ray on end effector coordinate system reaches desired global ray
IKP_Lookat3D	direction on end effector coordinate system points to desired 3D position
IKP_TranslationDirection5D	end effector origin and direction reaches desired 3D translation and direction. Can be thought of as Ray IK where the origin of the ray must coincide.
IKP_TranslationXY2D	2D translation along XY plane
IKP_TranslationXYOrientation3D	2D translation along XY plane and 1D rotation around Z axis. The offset of the rotation is measured starting at +X, so at +X is it 0, at +Y it is pi/2.
IKP_TranslationLocalGlobal6D	local point on end effector origin reaches desired 3D global point
IKP_TranslationXAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with x-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with y-axis like a cone, angle is from 0-pi. Axes defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngle4D	end effector origin reaches desired 3D translation, manipulator direction makes a specific angle with z-axis like a cone, angle is from 0-pi. Axes are defined in the manipulator base link's coordinate system.
IKP_TranslationXAxisAngleZNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to z-axis and be rotated at a certain angle starting from the x-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationYAxisAngleXNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to x-axis and be rotated at a certain angle starting from the y-axis (defined in the manipulator base link's coordinate system)
IKP_TranslationZAxisAngleYNorm4D	end effector origin reaches desired 3D translation, manipulator direction needs to be orthogonal to y-axis and be rotated at a certain angle starting from the z-axis (defined in the manipulator base link's coordinate system)
IKP_NumberOfParameterizations	number of parameterizations (does not count IKP_None)
IKP_VelocityDataBit	bit is set if the data represents the time-derivate velocity of an IkParameterization
IKP_Transform6DVelocity
IKP_Rotation3DVelocity
IKP_Translation3DVelocity
IKP_Direction3DVelocity
IKP_Ray4DVelocity
IKP_Lookat3DVelocity
IKP_TranslationDirection5DVelocity
IKP_TranslationXY2DVelocity
IKP_TranslationXYOrientation3DVelocity
IKP_TranslationLocalGlobal6DVelocity
IKP_TranslationXAxisAngle4DVelocity
IKP_TranslationYAxisAngle4DVelocity
IKP_TranslationZAxisAngle4DVelocity
IKP_TranslationXAxisAngleZNorm4DVelocity
IKP_TranslationYAxisAngleXNorm4DVelocity
IKP_TranslationZAxisAngleYNorm4DVelocity
IKP_UniqueIdMask	the mask for the unique ids
IKP_CustomDataBit	bit is set if the ikparameterization contains custom data, this is only used when serializing the ik parameterizations

Definition at line 66 of file fanuc_m430ia2p_manipulator_ikfast_moveit_plugin.cpp.