ikfast.h
/tmp/catkin_workspace/src/katana_driver/katana_moveit_ikfast_plugin/include/
ikfast_8h
ikfast::IkFastFunctions
ikfast::IkSingleDOFSolutionBase
ikfast::IkSolution
ikfast::IkSolutionBase
ikfast::IkSolutionList
ikfast::IkSolutionListBase
ikfast
#define
IKFAST_VERSION
ikfast_8h.html
afb507c47cee8d15d0241aa894bef5a67
katana_450_6m90a_ikfast_plugin.cpp
/tmp/catkin_workspace/src/katana_driver/katana_moveit_ikfast_plugin/src/
katana__450__6m90a__ikfast__plugin_8cpp
katana_450_6m90a_ikfast_solver.cpp
katana_450_6m90a_kinematics::IKFastKinematicsPlugin
katana_450_6m90a_kinematics::IKSolver
katana_450_6m90a_kinematics
#define
IKFAST_NO_MAIN
katana__450__6m90a__ikfast__plugin_8cpp.html
a2acf0f2516ebf5481d4db7f86f4d0da6
IkParameterizationType
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608
IKP_None
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608acbb149fc51418fe5ca9c9326d7a85197
IKP_Transform6D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ae68e029cd9a0a5cc66f44a84d3fc5e2d
IKP_Rotation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608adfca050be6e40fac11c4d1c202e9e7cf
IKP_Translation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ac211365918e7c6ab47f3c033ab234ed7
IKP_Direction3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aa157e9c60a9a834dfdeafc58af1070ab
IKP_Ray4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ae1327fc8b01c04a212b514a2adb02ef1
IKP_Lookat3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a05dd369c70200bf0441121917e5e342f
IKP_TranslationDirection5D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a4e6e703d91ab41d9e46119c2faf5abc1
IKP_TranslationXY2D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a33c1a78b2297182210b5bcf3da3e24f9
IKP_TranslationXYOrientation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a1bc12f060f69050ab05a1f3118e1ca87
IKP_TranslationLocalGlobal6D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a90ded33f056d2bfe48dbe1378b46ff86
IKP_TranslationXAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a0a358d2e9dff594d0c065d0aaf1cd516
IKP_TranslationYAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aa1684e80b5dc51dc80edb9dd5b031411
IKP_TranslationZAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a698e532ccbf7edd23adb966abeda97de
IKP_TranslationXAxisAngleZNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a9c39960d72692fc68f62659da54cf471
IKP_TranslationYAxisAngleXNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ac9eda3d51094d45d50122982bbcfbd39
IKP_TranslationZAxisAngleYNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a49790b263b0731a229e15abec3e447d7
IKP_NumberOfParameterizations
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ad47e97bf461fac6ae96920897cb54048
IKP_VelocityDataBit
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ab7e6af6804e80c1c49941b3660ac75b4
IKP_Transform6DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a0830efc41eb06a41c97cecabec52c795
IKP_Rotation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a8d02de9f768a39582859f55980586f04
IKP_Translation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7c370fa6df1b1debf5dbd82e4afea435
IKP_Direction3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a5a45e87dcb15eab0a852abb0d15c0409
IKP_Ray4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a123f5823974e893e91311b4fd9c621d2
IKP_Lookat3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a719d6ad6cf2b7a2e81e5f4ee5114971f
IKP_TranslationDirection5DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7fd17b63270a134c09c8b3244191027d
IKP_TranslationXY2DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a42bcd144678b4f5f17202868382fc7cc
IKP_TranslationXYOrientation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a191f583d6f444b16fc88df1287b985d6
IKP_TranslationLocalGlobal6DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a39be6c9706ca0738a8dc2eeae1f05cfe
IKP_TranslationXAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a35650229c346acddfe2d8c1491fc760e
IKP_TranslationYAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a47b03325a386772bf482ef09c6f82bc5
IKP_TranslationZAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ad2455fadd2a808ca86f5896dd722f6d1
IKP_TranslationXAxisAngleZNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7ed293b960c2cf0e9f4b8798c34a4d50
IKP_TranslationYAxisAngleXNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a4da7db040b1aaeb40c9e9aee8d0f440d
IKP_TranslationZAxisAngleYNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aef69b2f64872ee422f5e84c917448a92
IKP_UniqueIdMask
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a29ea37580c0d616eec976c8aaabfd35d
IKP_CustomDataBit
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a5c6ae13fce20b85ca4c313c768282899
SEARCH_MODE
katana__450__6m90a__ikfast__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43d
OPTIMIZE_FREE_JOINT
katana__450__6m90a__ikfast__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43da257354ce1bd1b71c18c1f02e5c615dcc
OPTIMIZE_MAX_JOINT
katana__450__6m90a__ikfast__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43dacf12e2a0ff681edbb1582e9afc627d90
IKFAST_API void
ComputeFk
namespacekatana__450__6m90a__kinematics.html
aa8117aa89dc03ac68754848adb45ac09
(const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool
ComputeIk
namespacekatana__450__6m90a__kinematics.html
a492fc30c6ead96fff3d4665826fc6cbf
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void
dgeev_
namespacekatana__450__6m90a__kinematics.html
a215e82e41efcad8d4e3a5b6516eb035a
(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_
namespacekatana__450__6m90a__kinematics.html
a2c988c41373ed209412214d01c97500e
(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
void
dgetrf_
namespacekatana__450__6m90a__kinematics.html
a8e9964c375485a923cb778cc1de125ec
(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
void
dgetri_
namespacekatana__450__6m90a__kinematics.html
ae490573b79ee33a009208a6e45edeb0c
(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
void
dgetrs_
namespacekatana__450__6m90a__kinematics.html
a52c488a857cb4d81cb01d86d149ce908
(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
namespacekatana__450__6m90a__kinematics.html
aeb7fc74c96011a78f86c35a9d4077f9b
()
IKFAST_API const char *
GetIkFastVersion
namespacekatana__450__6m90a__kinematics.html
a5e67668ccc1fdffd207f0ec978c50208
()
IKFAST_API int
GetIkRealSize
namespacekatana__450__6m90a__kinematics.html
a14e3e72ca2ed43e909e94c03ead06f09
()
IKFAST_API int
GetIkType
namespacekatana__450__6m90a__kinematics.html
a975908622c7e0e8a78913f86957f2e73
()
IKFAST_API const char *
GetKinematicsHash
namespacekatana__450__6m90a__kinematics.html
ae9532961c210e42ee038ae28d560619b
()
IKFAST_API int
GetNumFreeParameters
namespacekatana__450__6m90a__kinematics.html
aed1f1e5405bfbae0cb4d65b9168439a3
()
IKFAST_API int
GetNumJoints
namespacekatana__450__6m90a__kinematics.html
a9d9492d5dbaff681c93ca4100a5431db
()
float
IKabs
namespacekatana__450__6m90a__kinematics.html
a3c4575f0735a07d8d085af0a5cf2dbc4
(float f)
double
IKabs
namespacekatana__450__6m90a__kinematics.html
ac40bc73431bff801cfff56849ed11f96
(double f)
float
IKacos
namespacekatana__450__6m90a__kinematics.html
a02e25308e062821280f436a1a40a7891
(float f)
double
IKacos
namespacekatana__450__6m90a__kinematics.html
aa73465dc0a8ba40d2f380c7ea50e804d
(double f)
float
IKasin
namespacekatana__450__6m90a__kinematics.html
a8beac159f0ee4b6b4b340233fa096dfe
(float f)
double
IKasin
namespacekatana__450__6m90a__kinematics.html
af71e82f54c5fb727351833a74085e753
(double f)
float
IKatan2
namespacekatana__450__6m90a__kinematics.html
a147b16bbdf92a65719c22acef29ae28d
(float fy, float fx)
double
IKatan2
namespacekatana__450__6m90a__kinematics.html
a90d9c8a80b02553b32d7ae532451f8cb
(double fy, double fx)
float
IKcos
namespacekatana__450__6m90a__kinematics.html
a15e93ca08e04b2512ac340462f73051e
(float f)
double
IKcos
namespacekatana__450__6m90a__kinematics.html
a5ae37aa57e2263b0caf9ef8abb0e744d
(double f)
IKFAST_COMPILE_ASSERT
namespacekatana__450__6m90a__kinematics.html
a762d983b04584bff218e0e56f2a40912
(IKFAST_VERSION==61)
float
IKfmod
namespacekatana__450__6m90a__kinematics.html
a5cd92ab898c0882f9c34110d140edcd2
(float x, float y)
double
IKfmod
namespacekatana__450__6m90a__kinematics.html
ac8a1b65cd88bc0cea6e8209af1cd75fa
(double x, double y)
float
IKlog
namespacekatana__450__6m90a__kinematics.html
af0a3c635c858a5fd0c580c638ff509b4
(float f)
double
IKlog
namespacekatana__450__6m90a__kinematics.html
a424f550faaf1e10cc3e057439a255a9a
(double f)
float
IKsign
namespacekatana__450__6m90a__kinematics.html
a80ec2ce17f8e2eb0c479adb100506a49
(float f)
double
IKsign
namespacekatana__450__6m90a__kinematics.html
ad2cf69fc12aca454686b4ee1b33bc701
(double f)
float
IKsin
namespacekatana__450__6m90a__kinematics.html
a93f16f8cf2ccc373322894d3df42a8ac
(float f)
double
IKsin
namespacekatana__450__6m90a__kinematics.html
a46f0b1cbee774c0c26cbba8fa60a8b4d
(double f)
float
IKsqr
namespacekatana__450__6m90a__kinematics.html
a5eaeb155099db2e56602dc709d8825c4
(float f)
double
IKsqr
namespacekatana__450__6m90a__kinematics.html
ae158af7375882178885022a3c110d3c6
(double f)
float
IKsqrt
namespacekatana__450__6m90a__kinematics.html
a69873fc87c029af2f8c7f6431256c142
(float f)
double
IKsqrt
namespacekatana__450__6m90a__kinematics.html
a0ceb5a6351b7e0934bc6dbd6ebcc4502
(double f)
float
IKtan
namespacekatana__450__6m90a__kinematics.html
a381c729f068dbb2746ea2399ad7fb460
(float f)
double
IKtan
namespacekatana__450__6m90a__kinematics.html
a19a09518f76cf0d13bfca166d23d7602
(double f)
PLUGINLIB_EXPORT_CLASS
katana__450__6m90a__ikfast__plugin_8cpp.html
a0f6b96df4504b0e03a058e721d80a096
(katana_450_6m90a_kinematics::IKFastKinematicsPlugin, kinematics::KinematicsBase)
void
zgetrf_
namespacekatana__450__6m90a__kinematics.html
ac66ecb7346b151b752ee9e93fc43ad7a
(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
const double
LIMIT_TOLERANCE
katana__450__6m90a__ikfast__plugin_8cpp.html
a6db90f19cce82ba375acd26f431403b6
katana_450_6m90a_ikfast_solver.cpp
/tmp/catkin_workspace/src/katana_driver/katana_moveit_ikfast_plugin/src/
katana__450__6m90a__ikfast__solver_8cpp
ikfast.h
IKSolver
#define
__PRETTY_FUNCTION__
katana__450__6m90a__ikfast__plugin_8cpp.html
a9c15fe1e91b07ea3280f5239f9841b67
#define
IK2PI
katana__450__6m90a__ikfast__plugin_8cpp.html
ad6a7e3ecef3983ec46a211ee00f30364
#define
IK2PI
katana__450__6m90a__ikfast__solver_8cpp.html
ad6a7e3ecef3983ec46a211ee00f30364
#define
IKFAST_ALIGNED16
katana__450__6m90a__ikfast__solver_8cpp.html
a3940302e120211bb7af8a8a8290bb9e8
(x)
#define
IKFAST_ALIGNED16
katana__450__6m90a__ikfast__plugin_8cpp.html
a3940302e120211bb7af8a8a8290bb9e8
(x)
#define
IKFAST_ASSERT
katana__450__6m90a__ikfast__plugin_8cpp.html
af4e88f631e5a9381055a48fc90f3a633
(b)
#define
IKFAST_ATAN2_MAGTHRESH
katana__450__6m90a__ikfast__plugin_8cpp.html
a0b03d83cf16b77e025d2100621f1f321
#define
IKFAST_COMPILE_ASSERT
katana__450__6m90a__ikfast__plugin_8cpp.html
a14ff3dec1d7bf1b6f8bc3a7dcc0ed883
(x)
#define
IKFAST_COMPILE_ASSERT
katana__450__6m90a__ikfast__solver_8cpp.html
a14ff3dec1d7bf1b6f8bc3a7dcc0ed883
(x)
#define
IKFAST_HAS_LIBRARY
katana__450__6m90a__ikfast__plugin_8cpp.html
aa9b5df21ca9479bf3deaa7da9845cd6c
#define
IKFAST_HAS_LIBRARY
katana__450__6m90a__ikfast__solver_8cpp.html
aa9b5df21ca9479bf3deaa7da9845cd6c
#define
IKFAST_SINCOS_THRESH
katana__450__6m90a__ikfast__plugin_8cpp.html
a66d4d0ad56673a9555ebafe898d1e2c6
#define
IKFAST_SOLUTION_THRESH
katana__450__6m90a__ikfast__plugin_8cpp.html
adac93ad3ac22e016e6d690887e8688ba
#define
IKFAST_STRINGIZE
katana__450__6m90a__ikfast__plugin_8cpp.html
af0758e12dac3c9aadf615fe07e5dbd9d
(s)
#define
IKFAST_STRINGIZE
katana__450__6m90a__ikfast__solver_8cpp.html
af0758e12dac3c9aadf615fe07e5dbd9d
(s)
#define
IKFAST_STRINGIZE2
katana__450__6m90a__ikfast__solver_8cpp.html
ad6f886b3f30a68be92f3477f4e61da9d
(s)
#define
IKFAST_STRINGIZE2
katana__450__6m90a__ikfast__plugin_8cpp.html
ad6f886b3f30a68be92f3477f4e61da9d
(s)
#define
IKPI
katana__450__6m90a__ikfast__solver_8cpp.html
a0975daf07554eaa98742b83ae89344e6
#define
IKPI
katana__450__6m90a__ikfast__plugin_8cpp.html
a0975daf07554eaa98742b83ae89344e6
#define
IKPI_2
katana__450__6m90a__ikfast__solver_8cpp.html
a45ed2f0e7e8e411264ebad95010986a7
#define
IKPI_2
katana__450__6m90a__ikfast__plugin_8cpp.html
a45ed2f0e7e8e411264ebad95010986a7
IKFAST_API void
ComputeFk
katana__450__6m90a__ikfast__solver_8cpp.html
ac5b257dc48deeb1c904d40b5dbf4a5a4
(const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool
ComputeIk
katana__450__6m90a__ikfast__solver_8cpp.html
ad6e97fc303efda1a956b9a044f8424fc
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void
dgeev_
katana__450__6m90a__ikfast__solver_8cpp.html
ae833a06f7ce2542df24b072e9c61d4e6
(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_
katana__450__6m90a__ikfast__solver_8cpp.html
a8a0c34faf9ee31a4d83412a2b5d58125
(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
void
dgetrf_
katana__450__6m90a__ikfast__solver_8cpp.html
a1173528e396c678a5482bae5e7f6e43e
(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
void
dgetri_
katana__450__6m90a__ikfast__solver_8cpp.html
a8a0a23abeb2b5f4d136f544560421d68
(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
void
dgetrs_
katana__450__6m90a__ikfast__solver_8cpp.html
a1a2d74eb3410ef5bee213fce4b1f6443
(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
katana__450__6m90a__ikfast__solver_8cpp.html
a17f253d85cd4ac00e8840c417eef2487
()
IKFAST_API const char *
GetIkFastVersion
katana__450__6m90a__ikfast__solver_8cpp.html
aeb290d53b240a4d54cae3caaf43d19d7
()
IKFAST_API int
GetIkRealSize
katana__450__6m90a__ikfast__solver_8cpp.html
a6709f20b26f0903f0aa58a26934c853c
()
IKFAST_API int
GetIkType
katana__450__6m90a__ikfast__solver_8cpp.html
abc401850b948d5a0402e9dbb77d3846f
()
IKFAST_API const char *
GetKinematicsHash
katana__450__6m90a__ikfast__solver_8cpp.html
afb700ffecf29c92e7b86762777659d85
()
IKFAST_API int
GetNumFreeParameters
katana__450__6m90a__ikfast__solver_8cpp.html
af0cf03d3ad69d099a9a2eb6db5e5b352
()
IKFAST_API int
GetNumJoints
katana__450__6m90a__ikfast__solver_8cpp.html
a3e9541dde410904e043fe18701061b62
()
float
IKabs
katana__450__6m90a__ikfast__solver_8cpp.html
af50774e991c9af3d423e2f15a1864fcd
(float f)
double
IKabs
katana__450__6m90a__ikfast__solver_8cpp.html
a95e1896df0cdeedf37f08dcb341b3918
(double f)
float
IKacos
katana__450__6m90a__ikfast__solver_8cpp.html
a6985b623469662633075c50b708b5a97
(float f)
double
IKacos
katana__450__6m90a__ikfast__solver_8cpp.html
a10d86f8d485d2f30ce2638cb94b1e20e
(double f)
float
IKasin
katana__450__6m90a__ikfast__solver_8cpp.html
a159f6680a5e7eb9da0d76bfce5461050
(float f)
double
IKasin
katana__450__6m90a__ikfast__solver_8cpp.html
abb5416a593fd7617f75130836a9f5491
(double f)
float
IKatan2
katana__450__6m90a__ikfast__solver_8cpp.html
a5e00463327d5e1acfd4e8eb788bbd6ac
(float fy, float fx)
double
IKatan2
katana__450__6m90a__ikfast__solver_8cpp.html
a82c3e90527cb705afd35438841994aa2
(double fy, double fx)
float
IKcos
katana__450__6m90a__ikfast__solver_8cpp.html
a8d241417f26868995cfb5a5648816e63
(float f)
double
IKcos
katana__450__6m90a__ikfast__solver_8cpp.html
ac925942daf5e1b7df0c38f2a7a501ac0
(double f)
IKFAST_COMPILE_ASSERT
katana__450__6m90a__ikfast__solver_8cpp.html
adf4b4c56fd2ff1b505933aef3f73caab
(IKFAST_VERSION==61)
float
IKfmod
katana__450__6m90a__ikfast__solver_8cpp.html
a8af0ce9307f58d1e64bb413077478244
(float x, float y)
double
IKfmod
katana__450__6m90a__ikfast__solver_8cpp.html
a1ec8174f881fb22cf1a7cdf19b9a84ad
(double x, double y)
float
IKlog
katana__450__6m90a__ikfast__solver_8cpp.html
ae5812d083cf95d2945bbd8b75c38d7cd
(float f)
double
IKlog
katana__450__6m90a__ikfast__solver_8cpp.html
a429184284f7e6da54369a2290d8da22d
(double f)
float
IKsign
katana__450__6m90a__ikfast__solver_8cpp.html
a845afc8ffdb8c068f0e75abac0d78b15
(float f)
double
IKsign
katana__450__6m90a__ikfast__solver_8cpp.html
a903ab9632f6846449bbb3a8bba65ad8e
(double f)
float
IKsin
katana__450__6m90a__ikfast__solver_8cpp.html
a7b5e881d13d85a4bc1020963f9e605b5
(float f)
double
IKsin
katana__450__6m90a__ikfast__solver_8cpp.html
a8a11e6f22a19bd8f4ac73c3645c93c81
(double f)
float
IKsqr
katana__450__6m90a__ikfast__solver_8cpp.html
ab527b2a76479c7f6ef9545b3c41a3b37
(float f)
double
IKsqr
katana__450__6m90a__ikfast__solver_8cpp.html
a95d600e8b1f9ee1b1f0d8919b31f1ce0
(double f)
float
IKsqrt
katana__450__6m90a__ikfast__solver_8cpp.html
a6f476874d10b265f6b0e6409104126b7
(float f)
double
IKsqrt
katana__450__6m90a__ikfast__solver_8cpp.html
abb830ca15935c1c9b95a2ede5b2d43cc
(double f)
float
IKtan
katana__450__6m90a__ikfast__solver_8cpp.html
ad2361d774d694b5935519a1b3c1075f9
(float f)
double
IKtan
katana__450__6m90a__ikfast__solver_8cpp.html
acd8f1e5b83501cc42ffef27bd6458f9a
(double f)
int
main
katana__450__6m90a__ikfast__solver_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
zgetrf_
katana__450__6m90a__ikfast__solver_8cpp.html
a6993bc2ff3751954630153bfd08bdd0b
(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
IKSolver
classIKSolver.html
bool
ComputeIk
classIKSolver.html
ac0195e291bed491b4cb6a68db8199b55
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
static void
polyroots4
classIKSolver.html
a771ebe9dbd8593520e8aab200e3c141a
(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
unsigned char
_ij0
classIKSolver.html
ae0fdf96e14e42d408bc5e16580c81100
[2]
unsigned char
_ij1
classIKSolver.html
a66a0610cba0da00e09deda3c72e3909f
[2]
unsigned char
_ij2
classIKSolver.html
aff0b7815729d44c5decbef316763d45f
[2]
unsigned char
_ij3
classIKSolver.html
a4e65e7d6f429bdc4ad9146bda1b48712
[2]
unsigned char
_ij4
classIKSolver.html
a0b552c60bc1dd705f67a32cb3f03b738
[2]
unsigned char
_nj0
classIKSolver.html
ac2fb0a00657f58a0bc49485454ddd914
unsigned char
_nj1
classIKSolver.html
a38f5fb04f76ea095f6835eb767de1bbb
unsigned char
_nj2
classIKSolver.html
aac13220157c526f065b9f655b4a5cb7f
unsigned char
_nj3
classIKSolver.html
a19d64b2e1f7c33b7492420d74ff280a0
unsigned char
_nj4
classIKSolver.html
af4a3d8d26ff3a7cbf3ebbe8c8258f12c
IkReal
cj0
classIKSolver.html
aa3c0bd74bcf87573ce608d8039408526
IkReal
cj1
classIKSolver.html
a2eff4800151517f5c649cb948bad8326
IkReal
cj2
classIKSolver.html
afae239eeaad5f0c027cd4837faa666a0
IkReal
cj3
classIKSolver.html
ae9b832aafcb4e3630a581c04b15d909b
IkReal
cj4
classIKSolver.html
a43e7823ac1496d1210dda7b76a4e037a
IkReal
htj0
classIKSolver.html
af29aefe604a6957a573f5532a0ae0924
IkReal
htj1
classIKSolver.html
aa12be6bab85a8ca6c8c74c0cb5e92cf9
IkReal
htj2
classIKSolver.html
a33e07730a03291ee56912b371dc8268f
IkReal
htj3
classIKSolver.html
ab1194d4acb88c80eb7dd3c75a099dd97
IkReal
htj4
classIKSolver.html
a84bea2670b08b33b5a24bb1d5d56d7ca
IkReal
j0
classIKSolver.html
a57f10792b61e342bc910311172b36488
IkReal
j1
classIKSolver.html
abce606fc49166277524525eadfe47f1a
IkReal
j2
classIKSolver.html
a2059d93255027d204610a6818e5c45a6
IkReal
j3
classIKSolver.html
adf5d1568dc258d51edc6430bf90ef09d
IkReal
j4
classIKSolver.html
a7f090894b4553ceda8b2fbe91a9d469c
IkReal
new_px
classIKSolver.html
a81fbafdee3f4d7df5c82a4db80cb74d7
IkReal
new_py
classIKSolver.html
a92d9c8748e96823e08979ba79f215031
IkReal
new_pz
classIKSolver.html
a298e74662237a8df2869e8ad8ec2d00e
IkReal
new_r00
classIKSolver.html
a53a7eddb835224104838f523df53d07b
IkReal
new_r01
classIKSolver.html
a7bd00cd06f08e563763e834ffd0f66ea
IkReal
new_r02
classIKSolver.html
a39f2dd1bfb92c6c5509f4da676748660
IkReal
npx
classIKSolver.html
a42126eca3b2110aff8451060bce76c9f
IkReal
npy
classIKSolver.html
ab79bcd5d003ba38f5c1926e35446d123
IkReal
npz
classIKSolver.html
ac5ba601bbc95efd9881f70ebf871c5c1
IkReal
pp
classIKSolver.html
a2940190f4bac7e2fcd3d95503beb1a29
IkReal
px
classIKSolver.html
a9d5c872c9a6b0b9fdc9ba4192763585f
IkReal
py
classIKSolver.html
a997924d324efb5f12e6642cb28ee1470
IkReal
pz
classIKSolver.html
a34d107aa2bd31deda5da19b9c191f183
IkReal
r00
classIKSolver.html
abe2d67909dcd06df36369735b9eb44f6
IkReal
r01
classIKSolver.html
ac19d13d4cf04f8fa93f295b67115ba18
IkReal
r02
classIKSolver.html
a6b885721baf3d20900bffecc1830948c
IkReal
rxp0_0
classIKSolver.html
a6640ab19abf5f8d59d1f268be598b9d3
IkReal
rxp0_1
classIKSolver.html
ae74bd1bcaca3440377e9afa78f39dae4
IkReal
rxp0_2
classIKSolver.html
aac158b1a0802a655cea8a339b34abccc
IkReal
sj0
classIKSolver.html
a791e2437d1fc1b568b213b0388f97d0a
IkReal
sj1
classIKSolver.html
a0d7c3270795003a7947ae93ba90b8335
IkReal
sj2
classIKSolver.html
adbd68395fd872d5e9a13f3a787c1b0d9
IkReal
sj3
classIKSolver.html
a6b8d826d394d3d04633e5542d023ee5b
IkReal
sj4
classIKSolver.html
a5f90cdbcbc7633850cfaeb547c11437c
ikfast
namespaceikfast.html
ikfast::IkFastFunctions
ikfast::IkSingleDOFSolutionBase
ikfast::IkSolution
ikfast::IkSolutionBase
ikfast::IkSolutionList
ikfast::IkSolutionListBase
ikfast::IkFastFunctions
classikfast_1_1IkFastFunctions.html
void(*
ComputeFkFn
classikfast_1_1IkFastFunctions.html
ab698a598e5939f90d8fdd2c63df2c54a
)(const T *, T *, T *)
bool(*
ComputeIkFn
classikfast_1_1IkFastFunctions.html
aca5c2cbe37c8b2c5702260271c343c93
)(const T *, const T *, const T *, IkSolutionListBase< T > &)
int *(*
GetFreeParametersFn
classikfast_1_1IkFastFunctions.html
a57201a37ce2e50c380973d43007b3d95
)()
const char *(*
GetIkFastVersionFn
classikfast_1_1IkFastFunctions.html
a18988dda73efc7ebb14ed4f55949613a
)()
int(*
GetIkRealSizeFn
classikfast_1_1IkFastFunctions.html
a2e8f2262c7cdf81524d750f929981739
)()
int(*
GetIkTypeFn
classikfast_1_1IkFastFunctions.html
a021e3fbd64fd58836e04469fd340108e
)()
const char *(*
GetKinematicsHashFn
classikfast_1_1IkFastFunctions.html
a5978dc6cbc708ab07bee0b595ecf0e60
)()
int(*
GetNumFreeParametersFn
classikfast_1_1IkFastFunctions.html
a695aee8cc2b98f60530c9153beb73875
)()
int(*
GetNumJointsFn
classikfast_1_1IkFastFunctions.html
a884a76902ea19aad90175f34019a9b1e
)()
IkFastFunctions
classikfast_1_1IkFastFunctions.html
ae5fdd9b86135849b887ae95f8abdfcee
()
virtual
~IkFastFunctions
classikfast_1_1IkFastFunctions.html
a811179abadd14264edd35248914e65bd
()
ComputeFkFn
_ComputeFk
classikfast_1_1IkFastFunctions.html
a5a30a89afe6314eb86a05c3bd5a1a303
ComputeIkFn
_ComputeIk
classikfast_1_1IkFastFunctions.html
a75775a9a8c284f52cb6cc473c434163c
GetFreeParametersFn
_GetFreeParameters
classikfast_1_1IkFastFunctions.html
a2c57255d31921839afb1ed5c5f86c7cc
GetIkFastVersionFn
_GetIkFastVersion
classikfast_1_1IkFastFunctions.html
a1deac46b905d3d6fa2186e4fb52a75a4
GetIkRealSizeFn
_GetIkRealSize
classikfast_1_1IkFastFunctions.html
a6e0b57e5123af02f5d27c894eac23181
GetIkTypeFn
_GetIkType
classikfast_1_1IkFastFunctions.html
a22b3424efa52b1c611ad6ec426259aca
GetKinematicsHashFn
_GetKinematicsHash
classikfast_1_1IkFastFunctions.html
a838b34f459abceb7b0f537ad3d4f834b
GetNumFreeParametersFn
_GetNumFreeParameters
classikfast_1_1IkFastFunctions.html
ac78c6f4a428df5b34944510af3abd68f
GetNumJointsFn
_GetNumJoints
classikfast_1_1IkFastFunctions.html
aa7aadc4d797b2ecc3811a7887b0b0dfc
ikfast::IkSingleDOFSolutionBase
classikfast_1_1IkSingleDOFSolutionBase.html
IkSingleDOFSolutionBase
classikfast_1_1IkSingleDOFSolutionBase.html
aa3c37c6e9a4903f1303893e966260789
()
T
fmul
classikfast_1_1IkSingleDOFSolutionBase.html
adb64a33a2ce7357684c9c89d75cacd0c
T
foffset
classikfast_1_1IkSingleDOFSolutionBase.html
a1d5900ae9cb2d55c396b995b976fdcef
signed char
freeind
classikfast_1_1IkSingleDOFSolutionBase.html
adca245b0afa4133dddbd10803053bc2a
unsigned char
indices
classikfast_1_1IkSingleDOFSolutionBase.html
a50d8439b7f735a474f6dfe42e91de455
[5]
unsigned char
jointtype
classikfast_1_1IkSingleDOFSolutionBase.html
a3c458c4a2b06b4a2ccffc265cf34c6fe
unsigned char
maxsolutions
classikfast_1_1IkSingleDOFSolutionBase.html
a45404bf30c7b90131b7ce2b8045c6f6a
ikfast::IkSolution
classikfast_1_1IkSolution.html
ikfast::IkSolutionBase
virtual const int
GetDOF
classikfast_1_1IkSolution.html
a8d46fe7ed5a582f9ad3f4bfc86b41297
() const
virtual const std::vector< int > &
GetFree
classikfast_1_1IkSolution.html
a31267c02ff31436b0bfe3672bcecce5e
() const
virtual void
GetSolution
classikfast_1_1IkSolution.html
a197868105dffb498bec69c38318283a2
(T *solution, const T *freevalues) const
virtual void
GetSolution
classikfast_1_1IkSolution.html
a56a7305f2111808478f85a43ecc5e6aa
(std::vector< T > &solution, const std::vector< T > &freevalues) const
virtual void
GetSolutionIndices
classikfast_1_1IkSolution.html
ae6b77cab94b40369712a099cc21d42e8
(std::vector< unsigned int > &v) const
IkSolution
classikfast_1_1IkSolution.html
a6b76af506a24ba4b78b1c9d3dc110a72
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void
Validate
classikfast_1_1IkSolution.html
ad61847499fe76751629f70047f8b0a69
() const
std::vector< IkSingleDOFSolutionBase< T > >
_vbasesol
classikfast_1_1IkSolution.html
a823a44ea0a199929967ce1646792a50c
std::vector< int >
_vfree
classikfast_1_1IkSolution.html
a3c552543a66e39e127bed5a5c085b1bb
ikfast::IkSolutionBase
classikfast_1_1IkSolutionBase.html
T
virtual const int
GetDOF
classikfast_1_1IkSolutionBase.html
aac54f54aa69b27991651b0ba2a21208c
() const =0
virtual const std::vector< int > &
GetFree
classikfast_1_1IkSolutionBase.html
a2693ede66be937b7c4c1c949284282ca
() const =0
virtual void
GetSolution
classikfast_1_1IkSolutionBase.html
a9405530feb49f12f56c3175e7150c66f
(T *solution, const T *freevalues) const =0
virtual void
GetSolution
classikfast_1_1IkSolutionBase.html
a2b558f7a29be0868cff3e81fbd9594c4
(std::vector< T > &solution, const std::vector< T > &freevalues) const
virtual
~IkSolutionBase
classikfast_1_1IkSolutionBase.html
ae40e464cdbc474388cc7d55560ec44f9
()
ikfast::IkSolutionList
classikfast_1_1IkSolutionList.html
T
ikfast::IkSolutionListBase
virtual size_t
AddSolution
classikfast_1_1IkSolutionList.html
ac0a503b13e68403e7b2d92afd4c28a7b
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void
Clear
classikfast_1_1IkSolutionList.html
ae341a33d5aee644cac867e3edd2a9916
()
virtual size_t
GetNumSolutions
classikfast_1_1IkSolutionList.html
a4508235ea7738ee067d6525a34362567
() const
virtual const IkSolutionBase< T > &
GetSolution
classikfast_1_1IkSolutionList.html
ab2840cca4cea5547d684907047d38bba
(size_t index) const
std::list< IkSolution< T > >
_listsolutions
classikfast_1_1IkSolutionList.html
a141004e6be454a5b9ab537d102c7f405
ikfast::IkSolutionListBase
classikfast_1_1IkSolutionListBase.html
T
virtual size_t
AddSolution
classikfast_1_1IkSolutionListBase.html
a9d862f550472c2fa15189946b12222bf
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)=0
virtual void
Clear
classikfast_1_1IkSolutionListBase.html
a9940fe21cfa0a67c1a21a672696c5cb5
()=0
virtual size_t
GetNumSolutions
classikfast_1_1IkSolutionListBase.html
a5f4a2191825f1d2aad3468daf94d575f
() const =0
virtual const IkSolutionBase< T > &
GetSolution
classikfast_1_1IkSolutionListBase.html
a540d8c85b5be635ea671ef7ddc0eb9c0
(size_t index) const =0
virtual
~IkSolutionListBase
classikfast_1_1IkSolutionListBase.html
a1200afc2fc92110d9f8191039f0f7d6c
()
katana_450_6m90a_kinematics
namespacekatana__450__6m90a__kinematics.html
katana_450_6m90a_kinematics::IKFastKinematicsPlugin
katana_450_6m90a_kinematics::IKSolver
IkParameterizationType
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608
IKP_None
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608acbb149fc51418fe5ca9c9326d7a85197
IKP_Transform6D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ae68e029cd9a0a5cc66f44a84d3fc5e2d
IKP_Rotation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608adfca050be6e40fac11c4d1c202e9e7cf
IKP_Translation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ac211365918e7c6ab47f3c033ab234ed7
IKP_Direction3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aa157e9c60a9a834dfdeafc58af1070ab
IKP_Ray4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ae1327fc8b01c04a212b514a2adb02ef1
IKP_Lookat3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a05dd369c70200bf0441121917e5e342f
IKP_TranslationDirection5D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a4e6e703d91ab41d9e46119c2faf5abc1
IKP_TranslationXY2D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a33c1a78b2297182210b5bcf3da3e24f9
IKP_TranslationXYOrientation3D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a1bc12f060f69050ab05a1f3118e1ca87
IKP_TranslationLocalGlobal6D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a90ded33f056d2bfe48dbe1378b46ff86
IKP_TranslationXAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a0a358d2e9dff594d0c065d0aaf1cd516
IKP_TranslationYAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aa1684e80b5dc51dc80edb9dd5b031411
IKP_TranslationZAxisAngle4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a698e532ccbf7edd23adb966abeda97de
IKP_TranslationXAxisAngleZNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a9c39960d72692fc68f62659da54cf471
IKP_TranslationYAxisAngleXNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ac9eda3d51094d45d50122982bbcfbd39
IKP_TranslationZAxisAngleYNorm4D
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a49790b263b0731a229e15abec3e447d7
IKP_NumberOfParameterizations
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ad47e97bf461fac6ae96920897cb54048
IKP_VelocityDataBit
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ab7e6af6804e80c1c49941b3660ac75b4
IKP_Transform6DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a0830efc41eb06a41c97cecabec52c795
IKP_Rotation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a8d02de9f768a39582859f55980586f04
IKP_Translation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7c370fa6df1b1debf5dbd82e4afea435
IKP_Direction3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a5a45e87dcb15eab0a852abb0d15c0409
IKP_Ray4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a123f5823974e893e91311b4fd9c621d2
IKP_Lookat3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a719d6ad6cf2b7a2e81e5f4ee5114971f
IKP_TranslationDirection5DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7fd17b63270a134c09c8b3244191027d
IKP_TranslationXY2DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a42bcd144678b4f5f17202868382fc7cc
IKP_TranslationXYOrientation3DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a191f583d6f444b16fc88df1287b985d6
IKP_TranslationLocalGlobal6DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a39be6c9706ca0738a8dc2eeae1f05cfe
IKP_TranslationXAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a35650229c346acddfe2d8c1491fc760e
IKP_TranslationYAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a47b03325a386772bf482ef09c6f82bc5
IKP_TranslationZAxisAngle4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608ad2455fadd2a808ca86f5896dd722f6d1
IKP_TranslationXAxisAngleZNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a7ed293b960c2cf0e9f4b8798c34a4d50
IKP_TranslationYAxisAngleXNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a4da7db040b1aaeb40c9e9aee8d0f440d
IKP_TranslationZAxisAngleYNorm4DVelocity
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608aef69b2f64872ee422f5e84c917448a92
IKP_UniqueIdMask
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a29ea37580c0d616eec976c8aaabfd35d
IKP_CustomDataBit
namespacekatana__450__6m90a__kinematics.html
acfaf09de2d8d88e7cc15b7b7944af608a5c6ae13fce20b85ca4c313c768282899
IKFAST_API void
ComputeFk
namespacekatana__450__6m90a__kinematics.html
aa8117aa89dc03ac68754848adb45ac09
(const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool
ComputeIk
namespacekatana__450__6m90a__kinematics.html
a492fc30c6ead96fff3d4665826fc6cbf
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void
dgeev_
namespacekatana__450__6m90a__kinematics.html
a215e82e41efcad8d4e3a5b6516eb035a
(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_
namespacekatana__450__6m90a__kinematics.html
a2c988c41373ed209412214d01c97500e
(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
void
dgetrf_
namespacekatana__450__6m90a__kinematics.html
a8e9964c375485a923cb778cc1de125ec
(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
void
dgetri_
namespacekatana__450__6m90a__kinematics.html
ae490573b79ee33a009208a6e45edeb0c
(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
void
dgetrs_
namespacekatana__450__6m90a__kinematics.html
a52c488a857cb4d81cb01d86d149ce908
(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
namespacekatana__450__6m90a__kinematics.html
aeb7fc74c96011a78f86c35a9d4077f9b
()
IKFAST_API const char *
GetIkFastVersion
namespacekatana__450__6m90a__kinematics.html
a5e67668ccc1fdffd207f0ec978c50208
()
IKFAST_API int
GetIkRealSize
namespacekatana__450__6m90a__kinematics.html
a14e3e72ca2ed43e909e94c03ead06f09
()
IKFAST_API int
GetIkType
namespacekatana__450__6m90a__kinematics.html
a975908622c7e0e8a78913f86957f2e73
()
IKFAST_API const char *
GetKinematicsHash
namespacekatana__450__6m90a__kinematics.html
ae9532961c210e42ee038ae28d560619b
()
IKFAST_API int
GetNumFreeParameters
namespacekatana__450__6m90a__kinematics.html
aed1f1e5405bfbae0cb4d65b9168439a3
()
IKFAST_API int
GetNumJoints
namespacekatana__450__6m90a__kinematics.html
a9d9492d5dbaff681c93ca4100a5431db
()
float
IKabs
namespacekatana__450__6m90a__kinematics.html
a3c4575f0735a07d8d085af0a5cf2dbc4
(float f)
double
IKabs
namespacekatana__450__6m90a__kinematics.html
ac40bc73431bff801cfff56849ed11f96
(double f)
float
IKacos
namespacekatana__450__6m90a__kinematics.html
a02e25308e062821280f436a1a40a7891
(float f)
double
IKacos
namespacekatana__450__6m90a__kinematics.html
aa73465dc0a8ba40d2f380c7ea50e804d
(double f)
float
IKasin
namespacekatana__450__6m90a__kinematics.html
a8beac159f0ee4b6b4b340233fa096dfe
(float f)
double
IKasin
namespacekatana__450__6m90a__kinematics.html
af71e82f54c5fb727351833a74085e753
(double f)
float
IKatan2
namespacekatana__450__6m90a__kinematics.html
a147b16bbdf92a65719c22acef29ae28d
(float fy, float fx)
double
IKatan2
namespacekatana__450__6m90a__kinematics.html
a90d9c8a80b02553b32d7ae532451f8cb
(double fy, double fx)
float
IKcos
namespacekatana__450__6m90a__kinematics.html
a15e93ca08e04b2512ac340462f73051e
(float f)
double
IKcos
namespacekatana__450__6m90a__kinematics.html
a5ae37aa57e2263b0caf9ef8abb0e744d
(double f)
IKFAST_COMPILE_ASSERT
namespacekatana__450__6m90a__kinematics.html
a762d983b04584bff218e0e56f2a40912
(IKFAST_VERSION==61)
float
IKfmod
namespacekatana__450__6m90a__kinematics.html
a5cd92ab898c0882f9c34110d140edcd2
(float x, float y)
double
IKfmod
namespacekatana__450__6m90a__kinematics.html
ac8a1b65cd88bc0cea6e8209af1cd75fa
(double x, double y)
float
IKlog
namespacekatana__450__6m90a__kinematics.html
af0a3c635c858a5fd0c580c638ff509b4
(float f)
double
IKlog
namespacekatana__450__6m90a__kinematics.html
a424f550faaf1e10cc3e057439a255a9a
(double f)
float
IKsign
namespacekatana__450__6m90a__kinematics.html
a80ec2ce17f8e2eb0c479adb100506a49
(float f)
double
IKsign
namespacekatana__450__6m90a__kinematics.html
ad2cf69fc12aca454686b4ee1b33bc701
(double f)
float
IKsin
namespacekatana__450__6m90a__kinematics.html
a93f16f8cf2ccc373322894d3df42a8ac
(float f)
double
IKsin
namespacekatana__450__6m90a__kinematics.html
a46f0b1cbee774c0c26cbba8fa60a8b4d
(double f)
float
IKsqr
namespacekatana__450__6m90a__kinematics.html
a5eaeb155099db2e56602dc709d8825c4
(float f)
double
IKsqr
namespacekatana__450__6m90a__kinematics.html
ae158af7375882178885022a3c110d3c6
(double f)
float
IKsqrt
namespacekatana__450__6m90a__kinematics.html
a69873fc87c029af2f8c7f6431256c142
(float f)
double
IKsqrt
namespacekatana__450__6m90a__kinematics.html
a0ceb5a6351b7e0934bc6dbd6ebcc4502
(double f)
float
IKtan
namespacekatana__450__6m90a__kinematics.html
a381c729f068dbb2746ea2399ad7fb460
(float f)
double
IKtan
namespacekatana__450__6m90a__kinematics.html
a19a09518f76cf0d13bfca166d23d7602
(double f)
void
zgetrf_
namespacekatana__450__6m90a__kinematics.html
ac66ecb7346b151b752ee9e93fc43ad7a
(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
katana_450_6m90a_kinematics::IKFastKinematicsPlugin
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
kinematics::KinematicsBase
bool
getPositionFK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a65574d26e88dca2a2e1fa9e185c87b90
(const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const
bool
getPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a0bed98c861d1bfdca86ccb579d672db1
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool
getPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
ac03a1b18c85f2dbbd6474ae3b037e334
(const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double > > &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const
IKFastKinematicsPlugin
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a12fdd4484518ef5c7971978f82e196c8
()
bool
searchPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
aadbb97b5a20b86611548ebc853425046
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool
searchPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a8e1a8cd84805048bd487312cf2c37983
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool
searchPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
ab03bf08bb59b74611bddc7b376cbfa10
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool
searchPositionIK
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
abfe8b0ce7d4ede126d2f709501d0cce0
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const
bool
setRedundantJoints
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a970b323ee68a187ce00d1b114255bcce
(const std::vector< unsigned int > &redundant_joint_indices)
void
setSearchDiscretization
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a42c5f5cdbe510af5ea7f370811e6f266
(const std::map< int, double > &discretization)
void
fillFreeParams
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
af299c4b2c8c36b5dd5551a6f36090ff0
(int count, int *array)
void
getClosestSolution
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
ab2225e13310ad3c350b1654d79d3e217
(const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool
getCount
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a7dac5355b4cd8d480c2d9df902d9a8e9
(int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > &
getJointNames
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a8ce0c1084a60c8334e304f20eedcd80d
() const
const std::vector< std::string > &
getLinkNames
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a605e244669fde604a83acf1228da4607
() const
void
getSolution
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
adc83dcfdc8219025bbac7552df5345d8
(const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
double
harmonize
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
af0da6a05ac6cb148354514ebdd59da13
(const std::vector< double > &ik_seed_state, std::vector< double > &solution) const
bool
initialize
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a92ce9a8f505c4b0e4ac97c15f7af20bf
(const std::string &robot_description, const std::string &group_name, const std::string &base_name, const std::string &tip_name, double search_discretization)
bool
sampleRedundantJoint
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a04ac673ecddc64c7ddcb63fc86faae56
(kinematics::DiscretizationMethod method, std::vector< double > &sampled_joint_vals) const
int
solve
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
af212938826ac50a90aab8d6fc706b4f2
(KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
bool
active_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a6748e623caf989404c8bc787d936037e
std::vector< int >
free_params_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
ae4e308325946ee131f198cd475761713
std::vector< bool >
joint_has_limits_vector_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a0ccee64a699fe0ccc94b1b4d71312dec
std::vector< double >
joint_max_vector_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
aee207bd8e5990efd2c9998809ef309ab
std::vector< double >
joint_min_vector_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a3941dd762398071bd26f771eac2397a1
std::vector< std::string >
joint_names_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a14734a4cf5d09f177f2c01cd679eee76
std::vector< std::string >
link_names_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a5c1472412297e0d137d684cd299e7b30
size_t
num_joints_
classkatana__450__6m90a__kinematics_1_1IKFastKinematicsPlugin.html
a3738a669d9f5ca2999a077ea08c8b50a
katana_450_6m90a_kinematics::IKSolver
classkatana__450__6m90a__kinematics_1_1IKSolver.html
bool
ComputeIk
classkatana__450__6m90a__kinematics_1_1IKSolver.html
afe9af1ce905e2ffe130f6ef9be8af773
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
static void
polyroots4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a1a547300b9ab903acd498f2d073bcfb5
(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
unsigned char
_ij0
classkatana__450__6m90a__kinematics_1_1IKSolver.html
adc7f31a724c885d9592efb5665e95411
[2]
unsigned char
_ij1
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a91e834ceec6f034569e5821f74cfa99d
[2]
unsigned char
_ij2
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ac93b2a1faf948c3f3a4790590e6d8ea3
[2]
unsigned char
_ij3
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ab38192f59977ae1d8ace1fa380e0b06e
[2]
unsigned char
_ij4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a15acdcf0946875b7cf5fe262bee24061
[2]
unsigned char
_nj0
classkatana__450__6m90a__kinematics_1_1IKSolver.html
aa73480df9b5798632ad0aed3cff612fb
unsigned char
_nj1
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a47b76e28e3a90aa689b35780a06fbea2
unsigned char
_nj2
classkatana__450__6m90a__kinematics_1_1IKSolver.html
acc6a977d77b87340869c42a33c9fce90
unsigned char
_nj3
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a8592e38f62fb00b9c2ecab1a72976d40
unsigned char
_nj4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a8054386b829d6903de17fd9695cab935
IkReal
cj0
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a15cfb459790d2c39754d92beaff5c4e6
IkReal
cj1
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ab7e2986b3d58ce13485562a2a8a4fd98
IkReal
cj2
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a6e9bdaaf1f62942b394e9c0a1b0f99ba
IkReal
cj3
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a8d7aaefd717a9d6434c729925163d69d
IkReal
cj4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a98fff5f67d47f7662cd4c4f5f6ead8ed
IkReal
htj0
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ad58d706e0bff65b934e126e8ddf4ae2f
IkReal
htj1
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ae7e491cfb4488a58fc8b4b1bd9a98ab5
IkReal
htj2
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a8514666d0272e86692ebd53a00888f98
IkReal
htj3
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a3a2aeb4d84ad394991709b76a3cc8c4d
IkReal
htj4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ad363e49488b6ece84a4fbaf25950eada
IkReal
j0
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a143e74d75923987fa5cc5e14be53541b
IkReal
j1
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a3f42271d945e76fc6799843d56b87a82
IkReal
j2
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ace33686436e151a88aa5156bbe016ddb
IkReal
j3
classkatana__450__6m90a__kinematics_1_1IKSolver.html
ac68bb488972dba8cb9b17b04c8e58be2
IkReal
j4
classkatana__450__6m90a__kinematics_1_1IKSolver.html
a03744b49ace5d07c05b4e96e9d1bdaf5
IkReal
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