cob3_arm_kinematics::cob3_2 Namespace Reference

Classes
class	IKSolution
class	IKSolver
Typedefs
typedef double	IKReal
Functions
void	dgeev_ (const char jobvl, const char jobvr, const int n, double a, const int lda, double wr, double wi, double vl, const int ldvl, double vr, const int ldvr, double work, const int lwork, int info)
void	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)
void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)
void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)
void	dgetrs_ (const char trans, const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int *info)
IKFAST_API void	fk (const IKReal j, IKReal eetrans, IKReal *eerot)
IKFAST_API int *	getFreeParameters ()
IKFAST_API int	getIKRealSize ()
IKFAST_API int	getIKType ()
IKFAST_API const char *	getKinematicsHash ()
IKFAST_API int	getNumFreeParameters ()
IKFAST_API int	getNumJoints ()
IKFAST_API bool	ik (const IKReal eetrans, const IKReal eerot, const IKReal *pfree, std::vector< IKSolution > &vsolutions)
double	IKabs (double f)
float	IKabs (float f)
double	IKacos (double f)
float	IKacos (float f)
double	IKasin (double f)
float	IKasin (float f)
double	IKatan2 (double fy, double fx)
float	IKatan2 (float fy, float fx)
double	IKcos (double f)
float	IKcos (float f)
float	IKfmod (double x, double y)
float	IKfmod (float x, float y)
double	IKlog (double f)
float	IKlog (float f)
double	IKsign (double f)
float	IKsign (float f)
double	IKsin (double f)
float	IKsin (float f)
double	IKsqrt (double f)
float	IKsqrt (float f)
double	IKtan (double f)
float	IKtan (float f)
void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Typedef Documentation

typedef double cob3_arm_kinematics::cob3_2::IKReal

Definition at line 95 of file ikfast_kinematics_plugin.cpp.

Function Documentation

void cob3_arm_kinematics::cob3_2::dgeev_	(	const char *	jobvl,
		const char *	jobvr,
		const int *	n,
		double *	a,
		const int *	lda,
		double *	wr,
		double *	wi,
		double *	vl,
		const int *	ldvl,
		double *	vr,
		const int *	ldvr,
		double *	work,
		const int *	lwork,
		int *	info
	)

void cob3_arm_kinematics::cob3_2::dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

void cob3_arm_kinematics::cob3_2::dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

void cob3_arm_kinematics::cob3_2::dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

void cob3_arm_kinematics::cob3_2::dgetrs_	(	const char *	trans,
		const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

IKFAST_API void cob3_arm_kinematics::cob3_2::fk	(	const IKReal *	j,
		IKReal *	eetrans,
		IKReal *	eerot
	)

solves the forward kinematics equations.

Parameters:

pfree

is an array specifying the free joints of the chain.

Definition at line 244 of file ikfast_kinematics_plugin.cpp.

IKFAST_API int* cob3_arm_kinematics::cob3_2::getFreeParameters ( )

Definition at line 379 of file ikfast_kinematics_plugin.cpp.

IKFAST_API int cob3_arm_kinematics::cob3_2::getIKRealSize ( )

Definition at line 382 of file ikfast_kinematics_plugin.cpp.

IKFAST_API int cob3_arm_kinematics::cob3_2::getIKType ( )

Definition at line 384 of file ikfast_kinematics_plugin.cpp.

IKFAST_API const char* cob3_arm_kinematics::cob3_2::getKinematicsHash ( )

Definition at line 1460 of file ikfast_kinematics_plugin.cpp.

IKFAST_API int cob3_arm_kinematics::cob3_2::getNumFreeParameters ( )

Definition at line 378 of file ikfast_kinematics_plugin.cpp.

IKFAST_API int cob3_arm_kinematics::cob3_2::getNumJoints ( )

Definition at line 380 of file ikfast_kinematics_plugin.cpp.

IKFAST_API bool cob3_arm_kinematics::cob3_2::ik	(	const IKReal *	eetrans,
		const IKReal *	eerot,
		const IKReal *	pfree,
		std::vector< IKSolution > &	vsolutions
	)