Classes | Defines | Functions
fanuc_lrmate200ic5f_manipulator_ikfast_solver.cpp File Reference
#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>
Include dependency graph for fanuc_lrmate200ic5f_manipulator_ikfast_solver.cpp:
This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Classes

class  IKSolver

Defines

#define __PRETTY_FUNCTION__   __func__
#define IK2PI   ((IkReal)6.28318530717959)
#define IK2PI   ((IkReal)6.28318530717959)
#define IKFAST_ALIGNED16(x)   x __attribute((aligned(16)))
#define IKFAST_ALIGNED16(x)   x __attribute((aligned(16)))
#define IKFAST_ASSERT(b)   { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)
#define IKFAST_COMPILE_ASSERT(x)   extern int __dummy[(int)x]
#define IKFAST_COMPILE_ASSERT(x)   extern int __dummy[(int)x]
#define IKFAST_HAS_LIBRARY
#define IKFAST_HAS_LIBRARY
#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)
#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)
#define IKFAST_STRINGIZE(s)   IKFAST_STRINGIZE2(s)
#define IKFAST_STRINGIZE(s)   IKFAST_STRINGIZE2(s)
#define IKFAST_STRINGIZE2(s)   #s
#define IKFAST_STRINGIZE2(s)   #s
#define IKPI   ((IkReal)3.14159265358979)
#define IKPI   ((IkReal)3.14159265358979)
#define IKPI_2   ((IkReal)1.57079632679490)
#define IKPI_2   ((IkReal)1.57079632679490)

Functions

IKFAST_API void ComputeFk (const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
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 int * GetFreeParameters ()
IKFAST_API const char * GetIkFastVersion ()
IKFAST_API int GetIkRealSize ()
IKFAST_API int GetIkType ()
IKFAST_API const char * GetKinematicsHash ()
IKFAST_API int GetNumFreeParameters ()
IKFAST_API int GetNumJoints ()
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)
 IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)
float IKfmod (float x, float y)
double 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 IKsqr (float f)
double IKsqr (double f)
float IKsqrt (float f)
double IKsqrt (double f)
float IKtan (float f)
double IKtan (double f)
int main (int argc, char **argv)
void zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)

Define Documentation

#define __PRETTY_FUNCTION__   __func__
#define IK2PI   ((IkReal)6.28318530717959)
#define IK2PI   ((IkReal)6.28318530717959)
#define IKFAST_ALIGNED16 (   x)    x __attribute((aligned(16)))
#define IKFAST_ALIGNED16 (   x)    x __attribute((aligned(16)))
#define IKFAST_ASSERT (   b)    { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } }
#define IKFAST_ATAN2_MAGTHRESH   ((IkReal)2e-6)
#define IKFAST_COMPILE_ASSERT (   x)    extern int __dummy[(int)x]
#define IKFAST_COMPILE_ASSERT (   x)    extern int __dummy[(int)x]

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author:
Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 61 generated on 2014-10-24 09:56:14.433677 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 20 of file fanuc_lrmate200ic5f_manipulator_ikfast_solver.cpp.

#define IKFAST_SINCOS_THRESH   ((IkReal)0.000001)
#define IKFAST_SOLUTION_THRESH   ((IkReal)1e-6)
#define IKFAST_STRINGIZE (   s)    IKFAST_STRINGIZE2(s)
#define IKFAST_STRINGIZE (   s)    IKFAST_STRINGIZE2(s)
#define IKFAST_STRINGIZE2 (   s)    #s
#define IKFAST_STRINGIZE2 (   s)    #s
#define IKPI   ((IkReal)3.14159265358979)
#define IKPI   ((IkReal)3.14159265358979)
#define IKPI_2   ((IkReal)1.57079632679490)
#define IKPI_2   ((IkReal)1.57079632679490)

Function Documentation

IKFAST_API void ComputeFk ( const IkReal *  j,
IkReal *  eetrans,
IkReal *  eerot 
)

solves the forward kinematics equations.

Parameters:
pfreeis an array specifying the free joints of the chain.

Definition at line 210 of file fanuc_lrmate200ic5f_manipulator_ikfast_solver.cpp.

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

solves the inverse kinematics equations.

Parameters:
pfreeis an array specifying the free joints of the chain.

Definition at line 3446 of file fanuc_lrmate200ic5f_manipulator_ikfast_solver.cpp.

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 int* GetFreeParameters ( )
IKFAST_API const char* GetIkFastVersion ( )
IKFAST_API int GetIkRealSize ( )
IKFAST_API int GetIkType ( )
IKFAST_API const char* GetKinematicsHash ( )
IKFAST_API int GetNumFreeParameters ( )
IKFAST_API int GetNumJoints ( )
float IKabs ( float  f) [inline]
double IKabs ( double  f) [inline]
float IKacos ( float  f) [inline]
double IKacos ( double  f) [inline]
float IKasin ( float  f) [inline]
double IKasin ( double  f) [inline]
float IKatan2 ( float  fy,
float  fx 
) [inline]
double IKatan2 ( double  fy,
double  fx 
) [inline]
float IKcos ( float  f) [inline]
double IKcos ( double  f) [inline]
float IKfmod ( float  x,
float  y 
) [inline]
double IKfmod ( double  x,
double  y 
) [inline]
float IKlog ( float  f) [inline]
double IKlog ( double  f) [inline]
float IKsign ( float  f) [inline]
double IKsign ( double  f) [inline]
float IKsin ( float  f) [inline]
double IKsin ( double  f) [inline]
float IKsqr ( float  f) [inline]
double IKsqr ( double  f) [inline]
float IKsqrt ( float  f) [inline]
double IKsqrt ( double  f) [inline]
float IKtan ( float  f) [inline]
double IKtan ( double  f) [inline]
int main ( int  argc,
char **  argv 
)
void zgetrf_ ( const int *  m,
const int *  n,
std::complex< double > *  a,
const int *  lda,
int *  ipiv,
int *  info 
)


fanuc_lrmate200ic_moveit_plugins
Author(s): G.A. vd. Hoorn (TU Delft Robotics Institute)
autogenerated on Wed Aug 2 2017 03:13:23