Classes | |
class | IKFastKinematicsPlugin |
class | IKSolver |
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... | |
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) |
void | zgetrf_ (const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info) |
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.
Definition at line 66 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
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.
Definition at line 66 of file fanuc_m20ia_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API void ikfast_kinematics_plugin::ComputeFk | ( | const IkReal * | j, |
IkReal * | eetrans, | ||
IkReal * | eerot | ||
) |
solves the forward kinematics equations.
pfree | is an array specifying the free joints of the chain. |
Definition at line 211 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API bool ikfast_kinematics_plugin::ComputeIk | ( | const IkReal * | eetrans, |
const IkReal * | eerot, | ||
const IkReal * | pfree, | ||
IkSolutionListBase< IkReal > & | solutions | ||
) |
solves the inverse kinematics equations.
pfree | is an array specifying the free joints of the chain. |
Definition at line 2983 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
void ikfast_kinematics_plugin::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 ikfast_kinematics_plugin::dgesv_ | ( | const int * | n, |
const int * | nrhs, | ||
double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
double * | b, | ||
const int * | ldb, | ||
int * | info | ||
) |
void ikfast_kinematics_plugin::dgetrf_ | ( | const int * | m, |
const int * | n, | ||
double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
int * | info | ||
) |
void ikfast_kinematics_plugin::dgetri_ | ( | const int * | n, |
const double * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
double * | work, | ||
const int * | lwork, | ||
int * | info | ||
) |
void ikfast_kinematics_plugin::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 * ikfast_kinematics_plugin::GetFreeParameters | ( | ) |
Definition at line 278 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API const char * ikfast_kinematics_plugin::GetIkFastVersion | ( | ) |
Definition at line 2990 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API int ikfast_kinematics_plugin::GetIkRealSize | ( | ) |
Definition at line 281 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API int ikfast_kinematics_plugin::GetIkType | ( | ) |
Definition at line 283 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API const char * ikfast_kinematics_plugin::GetKinematicsHash | ( | ) |
Definition at line 2988 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API int ikfast_kinematics_plugin::GetNumFreeParameters | ( | ) |
Definition at line 277 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
IKFAST_API int ikfast_kinematics_plugin::GetNumJoints | ( | ) |
Definition at line 279 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKabs | ( | float | f | ) | [inline] |
Definition at line 89 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKabs | ( | double | f | ) | [inline] |
Definition at line 90 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKacos | ( | float | f | ) | [inline] |
Definition at line 146 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKacos | ( | double | f | ) | [inline] |
Definition at line 153 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKasin | ( | float | f | ) | [inline] |
Definition at line 113 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKasin | ( | double | f | ) | [inline] |
Definition at line 120 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKatan2 | ( | float | fy, |
float | fx | ||
) | [inline] |
Definition at line 168 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKatan2 | ( | double | fy, |
double | fx | ||
) | [inline] |
Definition at line 178 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKcos | ( | float | f | ) | [inline] |
Definition at line 162 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKcos | ( | double | f | ) | [inline] |
Definition at line 163 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKfmod | ( | float | x, |
float | y | ||
) | [inline] |
Definition at line 129 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKfmod | ( | double | x, |
double | y | ||
) | [inline] |
Definition at line 138 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKlog | ( | float | f | ) | [inline] |
Definition at line 95 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKlog | ( | double | f | ) | [inline] |
Definition at line 96 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKsign | ( | float | f | ) | [inline] |
Definition at line 189 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKsign | ( | double | f | ) | [inline] |
Definition at line 199 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKsin | ( | float | f | ) | [inline] |
Definition at line 160 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKsin | ( | double | f | ) | [inline] |
Definition at line 161 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKsqr | ( | float | f | ) | [inline] |
Definition at line 92 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKsqr | ( | double | f | ) | [inline] |
Definition at line 93 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKsqrt | ( | float | f | ) | [inline] |
Definition at line 166 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKsqrt | ( | double | f | ) | [inline] |
Definition at line 167 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
float ikfast_kinematics_plugin::IKtan | ( | float | f | ) | [inline] |
Definition at line 164 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
double ikfast_kinematics_plugin::IKtan | ( | double | f | ) | [inline] |
Definition at line 165 of file fanuc_m20ia10l_manipulator_ikfast_moveit_plugin.cpp.
void ikfast_kinematics_plugin::zgetrf_ | ( | const int * | m, |
const int * | n, | ||
std::complex< double > * | a, | ||
const int * | lda, | ||
int * | ipiv, | ||
int * | info | ||
) |