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)
float	IKabs (float f)
double	IKabs (double f)
float	IKacos (float f)
double	IKacos (double f)
float	IKasin (float f)
double	IKasin (double f)
float	IKatan2 (float fy, float fx)
double	IKatan2 (double fy, double fx)
float	IKcos (float f)
double	IKcos (double f)
float	IKfmod (float x, float y)
float	IKfmod (double x, double y)
float	IKlog (float f)
double	IKlog (double f)
float	IKsign (float f)
double	IKsign (double f)
float	IKsin (float f)
double	IKsin (double f)
float	IKsqrt (float f)
double	IKsqrt (double f)
float	IKtan (float f)
double	IKtan (double f)
void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Typedef Documentation

typedef double lwr_arm_kinematics::lwr::IKReal

Definition at line 95 of file lwr_kinematics_plugin.cpp.

Function Documentation

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

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

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

void lwr_arm_kinematics::lwr::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 lwr_arm_kinematics::lwr::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 lwr_kinematics_plugin.cpp.

IKFAST_API int* lwr_arm_kinematics::lwr::getFreeParameters ( )

Definition at line 328 of file lwr_kinematics_plugin.cpp.

IKFAST_API int lwr_arm_kinematics::lwr::getIKRealSize ( )

Definition at line 331 of file lwr_kinematics_plugin.cpp.

IKFAST_API int lwr_arm_kinematics::lwr::getIKType ( )

Definition at line 333 of file lwr_kinematics_plugin.cpp.

IKFAST_API const char* lwr_arm_kinematics::lwr::getKinematicsHash ( )

Definition at line 1485 of file lwr_kinematics_plugin.cpp.

IKFAST_API int lwr_arm_kinematics::lwr::getNumFreeParameters ( )

Definition at line 327 of file lwr_kinematics_plugin.cpp.

IKFAST_API int lwr_arm_kinematics::lwr::getNumJoints ( )

Definition at line 329 of file lwr_kinematics_plugin.cpp.

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

solves the inverse kinematics equations.

Parameters:

pfree is an array specifying the free joints of the chain.

Definition at line 1480 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKabs ( float f ) [inline]

Definition at line 136 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKabs ( double f ) [inline]

Definition at line 137 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKacos ( float f ) [inline]

Definition at line 179 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKacos ( double f ) [inline]

Definition at line 186 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKasin ( float f ) [inline]

Definition at line 146 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKasin ( double f ) [inline]

Definition at line 153 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKatan2	(	float	fy,
		float	fx
	)		`[inline]`

Definition at line 201 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKatan2	(	double	fy,
		double	fx
	)		`[inline]`

Definition at line 211 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKcos ( float f ) [inline]

Definition at line 195 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKcos ( double f ) [inline]

Definition at line 196 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKfmod	(	float	x,
		float	y
	)		`[inline]`

Definition at line 162 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKfmod	(	double	x,
		double	y
	)		`[inline]`

Definition at line 171 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKlog ( float f ) [inline]

Definition at line 139 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKlog ( double f ) [inline]

Definition at line 140 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKsign ( float f ) [inline]

Definition at line 222 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKsign ( double f ) [inline]

Definition at line 232 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKsin ( float f ) [inline]

Definition at line 193 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKsin ( double f ) [inline]

Definition at line 194 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKsqrt ( float f ) [inline]

Definition at line 199 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKsqrt ( double f ) [inline]

Definition at line 200 of file lwr_kinematics_plugin.cpp.

float lwr_arm_kinematics::lwr::IKtan ( float f ) [inline]

Definition at line 197 of file lwr_kinematics_plugin.cpp.

double lwr_arm_kinematics::lwr::IKtan ( double f ) [inline]

Definition at line 198 of file lwr_kinematics_plugin.cpp.

void lwr_arm_kinematics::lwr::zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

Classes

Typedefs

Functions

Typedef Documentation

Function Documentation