Public Member Functions | Static Public Member Functions | Public Attributes
IKSolver Class Reference

List of all members.

Public Member Functions

bool ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
bool ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
bool ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void rotationfunction0 (IkSolutionListBase< IkReal > &solutions)

Static Public Member Functions

static bool checkconsistency12 (const IkReal *Breal)
static bool checkconsistency8 (const IkReal *Breal)
template<int D>
static bool matrixinverse (IkReal *A)
static void solvedialyticpoly12qep (const IkReal *matcoeffs, IkReal *rawroots, int &numroots)
 Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)
static void solvedialyticpoly8qep (const IkReal *matcoeffs, IkReal *rawroots, int &numroots)
 Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)

Public Attributes

unsigned char _ij0 [2]
unsigned char _ij1 [2]
unsigned char _ij2 [2]
unsigned char _ij3 [2]
unsigned char _ij4 [2]
unsigned char _ij5 [2]
unsigned char _ij6 [2]
unsigned char _nj0
unsigned char _nj1
unsigned char _nj2
unsigned char _nj3
unsigned char _nj4
unsigned char _nj5
unsigned char _nj6
IkReal cj0
IkReal cj1
IkReal cj2
IkReal cj3
IkReal cj4
IkReal cj5
IkReal cj6
IkReal htj0
IkReal htj1
IkReal htj2
IkReal htj3
IkReal htj4
IkReal htj5
IkReal htj6
IkReal j0
IkReal j1
IkReal j2
IkReal j3
IkReal j4
IkReal j5
IkReal j6
IkReal new_px
IkReal new_py
IkReal new_pz
IkReal new_r00
IkReal new_r01
IkReal new_r02
IkReal new_r10
IkReal new_r11
IkReal new_r12
IkReal new_r20
IkReal new_r21
IkReal new_r22
IkReal npx
IkReal npy
IkReal npz
IkReal pp
IkReal px
IkReal py
IkReal pz
IkReal r00
IkReal r01
IkReal r02
IkReal r10
IkReal r11
IkReal r12
IkReal r20
IkReal r21
IkReal r22
IkReal rxp0_0
IkReal rxp0_1
IkReal rxp0_2
IkReal rxp1_0
IkReal rxp1_1
IkReal rxp1_2
IkReal rxp2_0
IkReal rxp2_1
IkReal rxp2_2
IkReal sj0
IkReal sj1
IkReal sj2
IkReal sj3
IkReal sj4
IkReal sj5
IkReal sj6

Detailed Description

Definition at line 301 of file ikfast_lbr.cpp.


Member Function Documentation

static bool IKSolver::checkconsistency12 ( const IkReal *  Breal) [inline, static]

Definition at line 5292 of file ikfast_ur5.cpp.

static bool IKSolver::checkconsistency8 ( const IkReal *  Breal) [inline, static]

Definition at line 19121 of file ikfast_lbr.cpp.

bool IKSolver::ComputeIk ( const IkReal *  eetrans,
const IkReal *  eerot,
const IkReal *  pfree,
IkSolutionListBase< IkReal > &  solutions 
) [inline]

Definition at line 283 of file ikfast_ur5.cpp.

bool IKSolver::ComputeIk ( const IkReal *  eetrans,
const IkReal *  eerot,
const IkReal *  pfree,
IkSolutionListBase< IkReal > &  solutions 
) [inline]

Definition at line 306 of file ikfast_lbr.cpp.

bool IKSolver::ComputeIk ( const IkReal *  eetrans,
const IkReal *  eerot,
const IkReal *  pfree,
IkSolutionListBase< IkReal > &  solutions 
) [inline]

Definition at line 309 of file ikfast_lwa.cpp.

template<int D>
static bool IKSolver::matrixinverse ( IkReal *  A) [inline, static]

Definition at line 5138 of file ikfast_ur5.cpp.

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > &  solutions) [inline]

Definition at line 1912 of file ikfast_lwa.cpp.

static void IKSolver::solvedialyticpoly12qep ( const IkReal *  matcoeffs,
IkReal *  rawroots,
int &  numroots 
) [inline, static]

Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)

matcoeffs is of length 54*3, for 3 matrices

Definition at line 5156 of file ikfast_ur5.cpp.

static void IKSolver::solvedialyticpoly8qep ( const IkReal *  matcoeffs,
IkReal *  rawroots,
int &  numroots 
) [inline, static]

Solve the det Ax^2+Bx+C = 0 problem using the Manocha and Canny method (1994)

matcoeffs is of length 54*3, for 3 matrices

Definition at line 19133 of file ikfast_lbr.cpp.


Member Data Documentation

unsigned char IKSolver::_ij0

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij1

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij2

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij3

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij4

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij5

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_ij6

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj0

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj1

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj2

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj3

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj4

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj5

Definition at line 304 of file ikfast_lbr.cpp.

unsigned char IKSolver::_nj6

Definition at line 304 of file ikfast_lbr.cpp.

IkReal IKSolver::cj0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::cj6

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::j6

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npx

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npy

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::npz

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::pp

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::px

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::py

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::pz

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r00

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r01

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r02

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r10

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r11

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r12

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r20

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r21

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::r22

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj0

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj1

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj2

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj3

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj4

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj5

Definition at line 303 of file ikfast_lbr.cpp.

IkReal IKSolver::sj6

Definition at line 303 of file ikfast_lbr.cpp.


The documentation for this class was generated from the following files:


cob_kinematics
Author(s): Mathias Lüdtke
autogenerated on Thu Jun 6 2019 21:22:53