ur_kin.cpp File Reference

#include <ur_kinematics/ur_kin.h>
#include <math.h>
#include <stdio.h>
#include <ur_kinematics/ikfast.h>

Include dependency graph for ur_kin.cpp:

Go to the source code of this file.

Namespaces
	ur_kinematics

Macros
#define	IKFAST_COMPILE_ASSERT(x)   extern int __dummy[(int)x]
#define	IKFAST_HAS_LIBRARY

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	ur_kinematics::forward (const double *q, double *T)
void	ur_kinematics::forward_all (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6)
void	from_mat44 (const double *mat4_4, IkReal *eetrans, IkReal *eerot)
IKFAST_API int *	GetFreeParameters ()
IKFAST_API int	GetIkRealSize ()
IKFAST_API int	GetNumFreeParameters ()
IKFAST_API int	GetNumJoints ()
	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)
int	ur_kinematics::inverse (const double *T, double *q_sols, double q6_des=0.0)
int	main (int argc, char *argv[])
void	to_mat44 (double *mat4_4, const IkReal *eetrans, const IkReal *eerot)

Macro Definition Documentation

#define IKFAST_COMPILE_ASSERT

(

x

)

extern int __dummy[(int)x]

Definition at line 351 of file ur_kin.cpp.

#define IKFAST_HAS_LIBRARY

Definition at line 346 of file ur_kin.cpp.

Function Documentation

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

Definition at line 404 of file ur_kin.cpp.

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

Definition at line 383 of file ur_kin.cpp.

void from_mat44	(	const double *	mat4_4,
		IkReal *	eetrans,
		IkReal *	eerot
	)

Definition at line 372 of file ur_kin.cpp.

IKFAST_API int* GetFreeParameters

(

)

Definition at line 412 of file ur_kin.cpp.

IKFAST_API int GetIkRealSize

(

)

Definition at line 415 of file ur_kin.cpp.

IKFAST_API int GetNumFreeParameters

(

)

Definition at line 411 of file ur_kin.cpp.

IKFAST_API int GetNumJoints

(

)

Definition at line 413 of file ur_kin.cpp.

IKFAST_COMPILE_ASSERT

(

IKFAST_VERSION

= =61

)

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 426 of file ur_kin.cpp.

void to_mat44	(	double *	mat4_4,
		const IkReal *	eetrans,
		const IkReal *	eerot
	)

Definition at line 358 of file ur_kin.cpp.