dual_quaternion.h /tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/ dual__quaternion_8h.html math3d.h dual_quaternion double dot dual__quaternion_8h.html a96bb2bef9c83b3728eb71fcc13036f10 (const dual_quaternion &a, const dual_quaternion &b) dual_quaternion exp dual__quaternion_8h.html a009dae60ba591f268b63605907bb04c8 (dual_quaternion a) dual_quaternion log dual__quaternion_8h.html a1d5f8768ffa9cf58933952bf3a31f330 (dual_quaternion a) dual_quaternion operator! dual__quaternion_8h.html aeefdcb1ede5f76c8907e7b649d01043c (const dual_quaternion &a) dual_quaternion operator* dual__quaternion_8h.html a1ef585b5174cf9d7541fb042ee4d8476 (const dual_quaternion &a, const dual_quaternion &b) std::ostream & operator<< dual__quaternion_8h.html a641d392e8a26d15fdda082e06ce0330d (std::ostream &out, const dual_quaternion &dq) dual_quaternion operator~ dual__quaternion_8h.html aaff8a942c5ee18a007e1ef5d220acea5 (const dual_quaternion &a) void set_dual_quaternion_matrix dual__quaternion_8h.html a76a6d253a4599c3159727f7e080bce36 (matrix< double > &M, const dual_quaternion &dq, int i=0, int j=0, double w=1.0) void set_quaternion_matrix dual__quaternion_8h.html a8cd104f55138900f037b0fa398406ebf (matrix< double > &M, const quaternion< double > &q, int i=0, int j=0, double w=1.0) int sign dual__quaternion_8h.html a213b31aea44a61fd7773dd1ff8665fc4 (T v) kdl_tl.cpp /tmp/ws/src/trac_ik/trac_ik_lib/src/ kdl__tl_8cpp.html trac_ik/kdl_tl.hpp KDL kdl_tl.hpp /tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/ kdl__tl_8hpp.html KDL::ChainIkSolverPos_TL KDL TRAC_IK BasicJointType namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20 RotJoint namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940 TransJoint namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168 Continuous namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58 IMETHOD Twist diffRelative namespaceKDL.html a909c50341bd06b4a13fd9c91f618b44b (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1) math3d.h /tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/ math3d_8h.html math3d::color_rgb24 math3d::invalid_vector math3d::matrix math3d::matrix3x3 math3d::oriented_point3d math3d::quaternion math3d::triangle math3d::vec3d math3d #define M_PI math3d_8h.html ae71449b1cc6e6250b91f539153a7a0d3 vec3d< double > normal3d namespacemath3d.html a3f6f3986347e93c0d2431d5812ded814 vec3d< double > point3d namespacemath3d.html ac16b44a3f36c0f61a54c5f97a7c98c86 std::pair< matrix3x3< double >, point3d > rigid_motion_t namespacemath3d.html a2a1ca474e454713bbffebd378dd4e86a unsigned int uint32_t math3d_8h.html a435d1572bf3f880d55459d9805097f62 unsigned char uint8_t math3d_8h.html aba7bc1797add20fe3efdf37ced1182c5 bool almost_zero namespacemath3d.html a6044b1be5a6dc8596fb09d80353119f8 (T a, double e) void conjugate namespacemath3d.html a0bcb3156a3df0ac31a405c62a142c161 (quaternion< T > &q) vec3d< T > cross_product namespacemath3d.html af819434f5430e6cdb7274aba561726a8 (const vec3d< T > &v1, const vec3d< T > &v2) double dist namespacemath3d.html a34156307d61c636ea500c51cdd6678f2 (const T &p1, const T &p2) T dot namespacemath3d.html a977e5fd6f0f340a95bd70d300fe41201 (const quaternion< T > &a, const quaternion< T > &b) T dot_product namespacemath3d.html a639981f8728f401b5bbceb39bf372a12 (const quaternion< T > &p, const quaternion< T > &q) double dot_product namespacemath3d.html ac349d8ff1091579210f0869fa92ee783 (const vec3d< T > &v1, const vec3d< S > &v2) T dot_product namespacemath3d.html abc6e60b3c52ef34e426d2035ba133765 (const vec3d< T > &v1, const vec3d< T > &v2) vec3d< T > get_normalize namespacemath3d.html a9bcc8340bc2b3e0c6943756846a88f9b (const vec3d< T > &p) vec3d< T > get_rotate namespacemath3d.html aafd75d6a9deabf0d59c5b9a3a88d95db (const vec3d< T > &p, const matrix3x3< T > &rot) vec3d< T > get_rotate namespacemath3d.html a97329e36b3f1795b39464cddfb649972 (const vec3d< T > &v, const quaternion< T > &q) vec3d< T > get_rotate_translate namespacemath3d.html a8a7e66fa0958c3eb02c6fa3db9575ea6 (const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t) vec3d< T > get_rotate_translate namespacemath3d.html af768a196f9e52a080af4ead00a49eb71 (const vec3d< T > &p, const matrix< T > &rot, const point3d &t) vec3d< T > get_rotate_translate namespacemath3d.html aff6eee3d95165f30bc9fe71ab7c8e734 (const vec3d< T > &p, const T *rot, const T *t) vec3d< T > get_rotate_translate namespacemath3d.html a1c6a35ac1e0007a6412eea5c1e69c10d (const vec3d< T > &v, const quaternion< T > &rot, const point3d &t) matrix3x3< T > get_transpose namespacemath3d.html a7c969af14b05c0b77f2810124054b979 (const matrix3x3< T > &m) matrix3x3< T > identity3x3 namespacemath3d.html ab33464abf2c62055e191055df961ba3c () void invert namespacemath3d.html a4b73a8c08dcbb3cc875996a815cef551 (R &r, T &t) double magnitude namespacemath3d.html a6149f30261c16dab99f52c8496718f44 (const T &p) double median namespacemath3d.html a7a6d413c3fd8a41c1af00cdd9a710ae7 (Iterator start, Iterator end) void mult_matrix namespacemath3d.html a5cdd916e948d33f0e7970c6230738d1e (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r) void mult_matrix namespacemath3d.html adc320801a7f208ff64f68ebbcdfa07fe (const Rot1 &m1, const Rot2 &m2, Rot3 &r) void mult_matrix_inplace namespacemath3d.html a389a9726ee3b4a8aa669b27532486cd9 (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r) void mult_quaternion namespacemath3d.html ad630187b9430df515e76dd9f5af2902e (const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r) T norm namespacemath3d.html a4bec8e5bb1312b5a2f12ac50541c4e5e (const quaternion< T > &a) double norm2 namespacemath3d.html a954432307872ae46e637a30dbcf4c014 (const T &v) void normalize namespacemath3d.html a5114f59f0561f3d80c4542fb0c3b8d69 (quaternion< T > &q) double normalize namespacemath3d.html a7a93e24bcac87fe99f526bf0c77d1739 (vec3d< T > &p) quaternion< T > operator* namespacemath3d.html a95813fdac8a5367ad196e4cfda97624a (const quaternion< T > &a, const quaternion< T > &b) quaternion< T > operator+ namespacemath3d.html a135f3dc74626c2d58d1d56fac5b23ed1 (const quaternion< T > &a, const quaternion< T > &b) quaternion< T > operator~ namespacemath3d.html ac344a97ce3e073d7babc2e49959bbe61 (const quaternion< T > &a) matrix3x3< T > quaternion_to_rot_matrix namespacemath3d.html af12cd151bb50be9ce88ef6469bc5bfb5 (const quaternion< T > &q) void relative_motion namespacemath3d.html af12acf9586f48881698ac63e0fb08454 (const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij) quaternion< T > rot_matrix_to_quaternion namespacemath3d.html a001df62974d8314b513a46f591df8445 (const matrix3x3< T > &m) void rotate namespacemath3d.html a136e40d9439d02fe5766d386deb94859 (vec3d< T > &p, const matrix3x3< S > &rot) void rotate namespacemath3d.html a8061261dfbe6807e91bf0f0b83c73761 (vec3d< T > &p, const matrix3x3< T > &rot) void rotate namespacemath3d.html a7912e450c77cd86925aeb895966eacb7 (vec3d< T > &p, const matrix< S > &rot) void rotate namespacemath3d.html a3e8782ea8742c05bea04b1d10848bdbc (vec3d< T > &p, const matrix< T > &rot) void rotate namespacemath3d.html aed1589940ab8397bb56e4de9a011c834 (vec3d< T > &p, const quaternion< T > &rot) void rotate_translate namespacemath3d.html a2e273ced84ce3ab79fb316717b00c0e2 (vec3d< T > &v, const RotationType &rot, const point3d &trans) void set_identity namespacemath3d.html a3cde300ae9781a9eb3557393ab055dee (matrix3x3< T > &m, T val=1) void set_identity namespacemath3d.html a05cbbe32c06121ef98ab195de35ee98b (matrix< T > &m, T val=1) void set_identity namespacemath3d.html a1a43556607165955ee62c9786e6c822d (quaternion< T > &q) double squared_dist namespacemath3d.html af4fa74d780ab9d8c387044159944c8d5 (const vec3d< T > &p1, const vec3d< T > &p2) void transpose namespacemath3d.html a6cf66edb00aa93d337f8b77a0b81f397 (const matrix3x3< T > &src, matrix3x3< T > &dest) void transpose namespacemath3d.html a50d87711392ff38821bb1867f8459d29 (const matrix< T > &src, matrix< T > &dest) void transpose namespacemath3d.html a3d4b472c1eeda86f4a1e6c23ac67afae (matrix3x3< T > &m) void transpose namespacemath3d.html a13aafc19fac89ac73b5ce1a1d63ed613 (matrix< T > &m) static const double deg_on_rad namespacemath3d.html a8f3db0db20a3556fa2ec98ef8a775ab6 static const double pi namespacemath3d.html ae87c968fca69098c3f611f4819924fe8 static const double rad_on_deg namespacemath3d.html a57a228035796970447a54f94759aeaec nlopt_ik.cpp /tmp/ws/src/trac_ik/trac_ik_lib/src/ nlopt__ik_8cpp.html trac_ik/nlopt_ik.hpp trac_ik/dual_quaternion.h NLOPT_IK void constrainfuncm namespaceNLOPT__IK.html a48c1a6da9465a095574d5f56d97f9ea9 (uint m, double *result, uint n, const double *x, double *grad, void *data) double minfunc namespaceNLOPT__IK.html a8ae7fcc8897fd4b2c2df8f0a28981adb (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncDQ namespaceNLOPT__IK.html a0b7f0d20bbce67ad832d89edda3f6600 (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncL2 namespaceNLOPT__IK.html ad06855e1d11df63fa17566c2c8a8349d (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncSumSquared namespaceNLOPT__IK.html a13785f6e1ca2aedaa6c31596a1eebd5b (const std::vector< double > &x, std::vector< double > &grad, void *data) dual_quaternion targetDQ namespaceNLOPT__IK.html a7a47e862bf31c8935280e2ed21d2d740 nlopt_ik.hpp /tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/ nlopt__ik_8hpp.html trac_ik/kdl_tl.hpp NLOPT_IK::NLOPT_IK NLOPT_IK OptType namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38a Joint namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f DualQuat namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09 SumSq namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f L2 namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317 trac_ik.cpp /tmp/ws/src/trac_ik/trac_ik_lib/src/ trac__ik_8cpp.html trac_ik/trac_ik.hpp TRAC_IK void normalizeAngle namespaceTRAC__IK.html a63957187d69471f9b0922ab6f6e481b4 (double &val, const double &min, const double &max) void normalizeAngle namespaceTRAC__IK.html aaa556cea26caee6ea1cb4f27ff0bcdd5 (double &val, const double &target) trac_ik.hpp /tmp/ws/src/trac_ik/trac_ik_lib/include/trac_ik/ trac__ik_8hpp.html trac_ik/nlopt_ik.hpp TRAC_IK::TRAC_IK TRAC_IK SolveType namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91 Speed namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99 Distance namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5 Manip1 namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6 Manip2 namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b KDL::ChainIkSolverPos_TL classKDL_1_1ChainIkSolverPos__TL.html int CartToJnt classKDL_1_1ChainIkSolverPos__TL.html acb915f9097e22bd033f76de41d39426c (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero()) ChainIkSolverPos_TL classKDL_1_1ChainIkSolverPos__TL.html a53a69d064e9b0e07662a343b5e9f80dd (const Chain &chain, const JntArray &q_min, const JntArray &q_max, double maxtime=0.005, double eps=1e-3, bool random_restart=false, bool try_jl_wrap=false) void setMaxtime classKDL_1_1ChainIkSolverPos__TL.html a5b6c07e49a5fa0261c29a1805b8d6f63 (double t) ~ChainIkSolverPos_TL classKDL_1_1ChainIkSolverPos__TL.html a1af237585ffc739b7c6fee700c3ac261 () void abort classKDL_1_1ChainIkSolverPos__TL.html a7b12c2ee452e2fcc91e61b4d818cc9c0 () void reset classKDL_1_1ChainIkSolverPos__TL.html aee8bd1a1ea9a8e5b9caae1e68a533373 () static double fRand classKDL_1_1ChainIkSolverPos__TL.html a92420f0bf65f5a84a80ab359b91e86be (double min, double max) bool aborted classKDL_1_1ChainIkSolverPos__TL.html a6ae461021fa3d2f7a263cd485e8676af KDL::Twist bounds classKDL_1_1ChainIkSolverPos__TL.html a1eb21592a320349dda71250e8cffe7b9 const Chain chain classKDL_1_1ChainIkSolverPos__TL.html a8be62d14a53eb95fed86e9d4655e2a3c JntArray delta_q classKDL_1_1ChainIkSolverPos__TL.html a490de643cbc984a49a8be7cc6fd7bb69 Twist delta_twist classKDL_1_1ChainIkSolverPos__TL.html ab2d1f73a6578f46100ac32fcf65305c1 double eps classKDL_1_1ChainIkSolverPos__TL.html a936d244d119424651f3ff15121dd7760 Frame f classKDL_1_1ChainIkSolverPos__TL.html a2986b59c4a51a7575ebbe7fa15a73aa0 KDL::ChainFkSolverPos_recursive fksolver classKDL_1_1ChainIkSolverPos__TL.html af0733255b211af2e56574d24ec5a8b6f double maxtime classKDL_1_1ChainIkSolverPos__TL.html ad374b83f7087c9b9ba95b5f3581582c5 JntArray q_max classKDL_1_1ChainIkSolverPos__TL.html ae626dfb26ea3db5fd2cb5461267442e3 JntArray q_min classKDL_1_1ChainIkSolverPos__TL.html a3e947ddac03c5eef02f5a2baa54dda7a bool rr classKDL_1_1ChainIkSolverPos__TL.html aa7501a5904aa301082c18c18fab9b00a std::vector< KDL::BasicJointType > types classKDL_1_1ChainIkSolverPos__TL.html a4749bd624f13a48420434170fed10061 KDL::ChainIkSolverVel_pinv vik_solver classKDL_1_1ChainIkSolverPos__TL.html a7f137f3f09a507e886e4c11569143f61 bool wrap classKDL_1_1ChainIkSolverPos__TL.html a87cb474977804ea6216fcf80890cb7f8 friend class TRAC_IK::TRAC_IK classKDL_1_1ChainIkSolverPos__TL.html a81945572f6a8b9dd1864f6433549689c math3d::color_rgb24 structmath3d_1_1color__rgb24.html color_rgb24 structmath3d_1_1color__rgb24.html a98c61e71b0e296759d62b009cfe46649 (uint8_t R, uint8_t G, uint8_t B) uint8_t b structmath3d_1_1color__rgb24.html a4f4865aadcd647fd6799c61817e8d865 uint8_t g structmath3d_1_1color__rgb24.html a1ccc0a7eb966af426106962f44a46591 uint8_t r structmath3d_1_1color__rgb24.html adf9c15dc5dfe4e70c37aa1ecc9e1d41a dual_quaternion structdual__quaternion.html dual_quaternion structdual__quaternion.html ac62c1be24e57fa9eaf9242edea0371f2 (double v=1.0) dual_quaternion & exp structdual__quaternion.html a83780cfafc1150b5d30fa67b089a156f () point3d get_translation structdual__quaternion.html ace1f35fd21a5b4b557edf729bd984c4f () dual_quaternion & log structdual__quaternion.html a482799a3bd78cb3b073563bcbac0d670 () dual_quaternion & normalize structdual__quaternion.html a768afa2d1144c79a3a7bcf17b8cbc859 () dual_quaternion & operator*= structdual__quaternion.html a607d62d4c6f9baa87d3d851c5378b70d (double a) dual_quaternion & operator+= structdual__quaternion.html a549dc195cf2516efe1b68ab5384eb027 (const dual_quaternion &a) void to_vector structdual__quaternion.html a5cae9b20969ab83acabed710320076f4 (double *p) static dual_quaternion convert structdual__quaternion.html aa12a1862743d459a08864924972a4139 (const double *p) static dual_quaternion rigid_transformation structdual__quaternion.html a5fba0f36b01709546950a47749d40eb6 (const quaternion< double > &r, const point3d &t) quaternion< double > R structdual__quaternion.html ad1d98ac3a9cdf7f4185195b164de6660 quaternion< double > tR_2 structdual__quaternion.html a2a67ab7931cf6f02759e530198686ca9 static constexpr double dq_epsilon structdual__quaternion.html ae41ad8c90f3663ca2d119e6c42060a3d math3d::invalid_vector classmath3d_1_1invalid__vector.html invalid_vector classmath3d_1_1invalid__vector.html a9bf9a0cf4b8100f225f2ee11d6abc02a () invalid_vector classmath3d_1_1invalid__vector.html aa3d7e208a0831f31fe34173a9200c51c (const std::string &msg) math3d::matrix classmath3d_1_1matrix.html super::const_iterator const_iterator classmath3d_1_1matrix.html a7c01844815b6f9155f80ef80e8c1e122 super::iterator iterator classmath3d_1_1matrix.html a35a6c10b4922047e7965413bbe8f5dfb super::reference at classmath3d_1_1matrix.html a645364baf04f21c563b895fbcfee1434 (const size_t r, const size_t c) super::const_reference at classmath3d_1_1matrix.html a19946e5e6248d0d81d1a9a963726b89b (size_t r, size_t c) const iterator begin classmath3d_1_1matrix.html a77723a38cb4d3d3c72b17408baa9b47a () const_iterator begin classmath3d_1_1matrix.html a5a09216ce98926ca11a5ad12a15bf470 () const iterator end classmath3d_1_1matrix.html aabb29aaccf4c0b16e908f305b209b6f0 () const_iterator end classmath3d_1_1matrix.html aeda4c3ab97ef70a379e4e6b2fbde25e2 () const matrix classmath3d_1_1matrix.html a397551d5db05035aa340af6e785dd5e6 () matrix classmath3d_1_1matrix.html af21315b87d22fd38a97754fec9930804 (const matrix< T > &m) matrix classmath3d_1_1matrix.html a485a360ddac670925cf35f59607aceec (int w, int h) matrix classmath3d_1_1matrix.html a76c18cee63a4be66605d325885b98d0c (int w, int h, const T &v) bool operator!= classmath3d_1_1matrix.html af06c325b74a58be86e85bcc3aa8383b2 (const matrix< T > &m) const super::reference operator() classmath3d_1_1matrix.html a9dcb53e06bf4744013c6bebd33bbbd25 (size_t r, size_t c) super::const_reference operator() classmath3d_1_1matrix.html a9196b8a9d7e39e15e4e67904894a90e8 (size_t r, size_t c) const matrix< T > & operator*= classmath3d_1_1matrix.html a2df8ab5516ca15f6959bb570a7bd3403 (const S &s) matrix< T > & operator/= classmath3d_1_1matrix.html ad1e98ba8c12cf50a4dad71d7894a8e99 (const S &s) matrix & operator= classmath3d_1_1matrix.html a8c7152a3e197c84727fa165ba27133c4 (const matrix< T > &m) bool operator== classmath3d_1_1matrix.html a17deba6a7567a4b6788ad7096ffb33a2 (const matrix< T > &m) const void resize classmath3d_1_1matrix.html ad96d503391e553b25fd16af6b2d42b69 (int w, int h) size_t size classmath3d_1_1matrix.html a4087bbea83f955ef0b8ccd6e239b1de9 () const T * to_ptr classmath3d_1_1matrix.html abb550aad56b9509edb88193f3e4cb07c () const T * to_ptr classmath3d_1_1matrix.html a31e1a029da60741732062b0ea7842575 () const const int & height classmath3d_1_1matrix.html a4fb52bc202653062c85f81f80ec8d390 const int & width classmath3d_1_1matrix.html a643b9be5bd5f1edb02a552e2c3bf072e std::vector< T > super classmath3d_1_1matrix.html acd85263742e39cf77a7757810f400cba int height_ classmath3d_1_1matrix.html a1b866043a8ecae4227510f8f329bdbea int width_ classmath3d_1_1matrix.html a14b591143209b17fde2bb9cd41089891 friend std::ostream & operator<< classmath3d_1_1matrix.html a9970d6bd4e9147f83a89f77c35fd8fc6 (std::ostream &s, const matrix< T > &m) math3d::matrix3x3 structmath3d_1_1matrix3x3.html matrix3x3 structmath3d_1_1matrix3x3.html ac1080faf4e6446189f410dab2893b800 () matrix3x3 structmath3d_1_1matrix3x3.html ac1fb0ad557c9832b9030a750e9f4f1c2 (const S *v) T & operator() structmath3d_1_1matrix3x3.html a69c918004fa5ad6d2638864b52afc4e4 (size_t row, size_t col) const T & operator() structmath3d_1_1matrix3x3.html afdbf01e9fe23f24a2d17a522c2103ae5 (size_t row, size_t col) const void set_column structmath3d_1_1matrix3x3.html a643494c19abf98c49ac97a6724861ae6 (size_t c, const vec3d< T > &v) int height structmath3d_1_1matrix3x3.html a061b6cd8e64cdfbe2da53109c5a2228d T r00 structmath3d_1_1matrix3x3.html a7f280d0c2ad39574fd6dd13506461d66 T r01 structmath3d_1_1matrix3x3.html a7be507c7a931c050ae2164d591521300 T r02 structmath3d_1_1matrix3x3.html a95e154a7d96cf9629678a451d82ed6d4 T r10 structmath3d_1_1matrix3x3.html a7ba15351bd82371afeb04c1d8e34754d T r11 structmath3d_1_1matrix3x3.html ad4d1aa86fc2ffe9fd4eb59b77d1ecb68 T r12 structmath3d_1_1matrix3x3.html ae4cba9e2e7b6767249dd72d15f417ab6 T r20 structmath3d_1_1matrix3x3.html ad553441f0ae9a30d0adf759b9520adad T r21 structmath3d_1_1matrix3x3.html afb756a89e378ea25cbd7d7fabac97c70 T r22 structmath3d_1_1matrix3x3.html ab91dd1376465a017aa7d650bacac6c02 int width structmath3d_1_1matrix3x3.html a6bd4dab33ee0c9a3522ba8e0c335ef73 friend std::ostream & operator<< structmath3d_1_1matrix3x3.html a89cd5fbbe4fceb5214e79228bcd864f9 (std::ostream &s, const matrix3x3< T > &m) NLOPT_IK::NLOPT_IK classNLOPT__IK_1_1NLOPT__IK.html void cartDQError classNLOPT__IK_1_1NLOPT__IK.html aa5fae7e22eceef1a2334f152d796c6ab (const std::vector< double > &x, double error[]) void cartL2NormError classNLOPT__IK_1_1NLOPT__IK.html a73b6b8160ebbd9edaaf62af7eda1aced (const std::vector< double > &x, double error[]) void cartSumSquaredError classNLOPT__IK_1_1NLOPT__IK.html a2fe48c6b6658b80a4b4d0af5c60e975e (const std::vector< double > &x, double error[]) int CartToJnt classNLOPT__IK_1_1NLOPT__IK.html a2179617f946254ab5005567b80a01296 (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist bounds=KDL::Twist::Zero(), const KDL::JntArray &q_desired=KDL::JntArray()) double minJoints classNLOPT__IK_1_1NLOPT__IK.html a1c691fe035e434982d7572e7a63b5bde (const std::vector< double > &x, std::vector< double > &grad) NLOPT_IK classNLOPT__IK_1_1NLOPT__IK.html ac085096093f877e3aa6e48a051c901b4 (const KDL::Chain &chain, const KDL::JntArray &q_min, const KDL::JntArray &q_max, double maxtime=0.005, double eps=1e-3, OptType type=SumSq) void setMaxtime classNLOPT__IK_1_1NLOPT__IK.html a7937363d4d3a0215725cb75915ffcdaf (double t) ~NLOPT_IK classNLOPT__IK_1_1NLOPT__IK.html a901d896feb3f10fb927ca9ed3c8036f7 () void abort classNLOPT__IK_1_1NLOPT__IK.html ad628f7dc7461c0b68b1a7b2e7b25fc08 () void reset classNLOPT__IK_1_1NLOPT__IK.html a99f6079273541e0a549dacd9aba5e024 () static double fRand classNLOPT__IK_1_1NLOPT__IK.html abd91d4161fe56962841feaab7ad6d386 (double min, double max) bool aborted classNLOPT__IK_1_1NLOPT__IK.html a12b6ac0d2a2680dc3e4044cfcf977620 std::vector< double > best_x classNLOPT__IK_1_1NLOPT__IK.html adbbe67c5a7e11a6b326fe5cb8753f506 KDL::Twist bounds classNLOPT__IK_1_1NLOPT__IK.html a2e69733b948589f425ce5fa632a27145 const KDL::Chain chain classNLOPT__IK_1_1NLOPT__IK.html a16988a8fe9e3cf2fba39e457ed6ce935 KDL::Frame currentPose classNLOPT__IK_1_1NLOPT__IK.html abfa48523cce742507f6a4b7812cab47a std::vector< double > des classNLOPT__IK_1_1NLOPT__IK.html a3c6ed891dc5e207604b88c807de5ea23 double eps classNLOPT__IK_1_1NLOPT__IK.html a1a50ce7e010ce2ee0c53e06d900ea5f7 KDL::ChainFkSolverPos_recursive fksolver classNLOPT__IK_1_1NLOPT__IK.html a4fd4abb9eb2c17a7de4ad12adb2f1343 int iter_counter classNLOPT__IK_1_1NLOPT__IK.html ac51822242bc76611678a02d69956fcb5 std::vector< double > lb classNLOPT__IK_1_1NLOPT__IK.html a6361827b705b1189b8c88866a364d4e8 double maxtime classNLOPT__IK_1_1NLOPT__IK.html a55792a7167e51cd523a0a7506bf1da32 nlopt::opt opt classNLOPT__IK_1_1NLOPT__IK.html ace9525e69a40fa0a8c2a05498471bc44 int progress classNLOPT__IK_1_1NLOPT__IK.html aa11d0afbc9bf667cd89dafbbe66c5fb0 KDL::Frame targetPose classNLOPT__IK_1_1NLOPT__IK.html ac0e7e68e5629686616c72510e83db5fa OptType TYPE classNLOPT__IK_1_1NLOPT__IK.html aab42527969385a826427b546ffeec62b std::vector< KDL::BasicJointType > types classNLOPT__IK_1_1NLOPT__IK.html a983a26b6171c7f3d1032917e787f299a std::vector< double > ub classNLOPT__IK_1_1NLOPT__IK.html a293dcc7ed0913cbecc443279cee5a9c0 KDL::Frame x_out classNLOPT__IK_1_1NLOPT__IK.html a6fa149ac41b7c63b8a5afbfbf29f9e24 KDL::Frame x_target classNLOPT__IK_1_1NLOPT__IK.html a596db3ae8971bc812618a27516ee763b KDL::Frame y_out classNLOPT__IK_1_1NLOPT__IK.html ac21d9f8e38fea29231d5dac157aa6a76 KDL::Frame y_target classNLOPT__IK_1_1NLOPT__IK.html a73807af7dd144151114d6707d17495cb KDL::Frame z_target classNLOPT__IK_1_1NLOPT__IK.html ac38179a467fe0e8361ceb8d8e9a19639 KDL::Frame z_up classNLOPT__IK_1_1NLOPT__IK.html aa895ec01ba7fc4ba93745d49f64b0e06 friend class TRAC_IK::TRAC_IK classNLOPT__IK_1_1NLOPT__IK.html a81945572f6a8b9dd1864f6433549689c math3d::oriented_point3d classmath3d_1_1oriented__point3d.html math3d::vec3d oriented_point3d classmath3d_1_1oriented__point3d.html a7aea86af7de03d0beb95e5ee4ff7c77e () oriented_point3d classmath3d_1_1oriented__point3d.html a0803a56f410adfc86d8842f152996fa6 (const oriented_point3d &p) oriented_point3d classmath3d_1_1oriented__point3d.html ae3ca857974c220976755485aa1ad3072 (const point3d &p) oriented_point3d classmath3d_1_1oriented__point3d.html abe2d1a1236e363834a8e8b63b752e865 (const point3d &p, const normal3d &nn) oriented_point3d classmath3d_1_1oriented__point3d.html a529201e252c911f55eb6353f1979617b (double xx, double yy, double zz) normal3d n classmath3d_1_1oriented__point3d.html ace4f95d6b6bca8a96063a22b006ec48f math3d::quaternion structmath3d_1_1quaternion.html quaternion< T > & operator*= structmath3d_1_1quaternion.html ac14a0fc109dea3e9fedab60a61ec5520 (T a) quaternion< T > & operator+= structmath3d_1_1quaternion.html a50529e56a0b88bbc9d8951e1e1728c17 (const quaternion< T > &a) quaternion structmath3d_1_1quaternion.html a6211f03d73932fab3ed0921d0368e8ec (T v=0) quaternion structmath3d_1_1quaternion.html aef247ee044dfb341179cfd0dae37ac81 (T ww, T ii, T jj, T kk) void to_vector structmath3d_1_1quaternion.html accec8857fe0d682df1209627882c5e86 (T *p) const static quaternion< T > convert structmath3d_1_1quaternion.html a2568d5443d6f5362e6252710d12cb006 (const T *p) static quaternion< T > convert structmath3d_1_1quaternion.html a1d5de4882a0033e79444465d886b4c1e (const vec3d< T > &p) T i structmath3d_1_1quaternion.html a232b6f5a82ffd2cdc779731b86e7cb28 T j structmath3d_1_1quaternion.html ab2d084766b9edfc2cd179370027ebf9f T k structmath3d_1_1quaternion.html ad645abbe05d6aaba9b32d983d93a467b T w structmath3d_1_1quaternion.html a6a055ac4743a21b1e79918ab13d252cd friend std::ostream & operator<< structmath3d_1_1quaternion.html a9bc3b039311e5571b40ffbdd339bdf22 (std::ostream &os, const quaternion< T > &q) friend std::istream & operator>> structmath3d_1_1quaternion.html a950b7d40654282e902fe113d9e4932ac (std::istream &is, quaternion< T > &q) quaternion< double > structmath3d_1_1quaternion.html quaternion< double > & operator*= structmath3d_1_1quaternion.html ac14a0fc109dea3e9fedab60a61ec5520 (double a) quaternion< double > & operator+= structmath3d_1_1quaternion.html a50529e56a0b88bbc9d8951e1e1728c17 (const quaternion< double > &a) quaternion structmath3d_1_1quaternion.html a6211f03d73932fab3ed0921d0368e8ec (double v=0) quaternion structmath3d_1_1quaternion.html aef247ee044dfb341179cfd0dae37ac81 (double ww, double ii, double jj, double kk) void to_vector structmath3d_1_1quaternion.html accec8857fe0d682df1209627882c5e86 (double *p) const static quaternion< double > convert structmath3d_1_1quaternion.html a2568d5443d6f5362e6252710d12cb006 (const double *p) static quaternion< double > convert structmath3d_1_1quaternion.html a1d5de4882a0033e79444465d886b4c1e (const vec3d< double > &p) double i structmath3d_1_1quaternion.html a232b6f5a82ffd2cdc779731b86e7cb28 double j structmath3d_1_1quaternion.html ab2d084766b9edfc2cd179370027ebf9f double k structmath3d_1_1quaternion.html ad645abbe05d6aaba9b32d983d93a467b double w structmath3d_1_1quaternion.html a6a055ac4743a21b1e79918ab13d252cd friend std::ostream & operator<< structmath3d_1_1quaternion.html a9bc3b039311e5571b40ffbdd339bdf22 (std::ostream &os, const quaternion< double > &q) friend std::istream & operator>> structmath3d_1_1quaternion.html a950b7d40654282e902fe113d9e4932ac (std::istream &is, quaternion< double > &q) TRAC_IK::TRAC_IK classTRAC__IK_1_1TRAC__IK.html int CartToJnt classTRAC__IK_1_1TRAC__IK.html af093d155f2d79105c6ec62c02cf47e1a (const KDL::JntArray &q_init, const KDL::Frame &p_in, KDL::JntArray &q_out, const KDL::Twist &bounds=KDL::Twist::Zero()) bool getKDLChain classTRAC__IK_1_1TRAC__IK.html acf36ae6b9773eed5992648f6d5912599 (KDL::Chain &chain_) bool getKDLLimits classTRAC__IK_1_1TRAC__IK.html afc911c3ec0270fa2420c208cb5aee2b5 (KDL::JntArray &lb_, KDL::JntArray &ub_) bool getSolutions classTRAC__IK_1_1TRAC__IK.html aab8afe8d42e3dfbcf7632cd9e28e75e0 (std::vector< KDL::JntArray > &solutions_) bool getSolutions classTRAC__IK_1_1TRAC__IK.html afdfad6e949566a8ada113dd8bb3efc13 (std::vector< KDL::JntArray > &solutions_, std::vector< std::pair< double, uint > > &errors_) bool setKDLLimits classTRAC__IK_1_1TRAC__IK.html a6256c70ae947482ea594a0bd76249cd5 (KDL::JntArray &lb_, KDL::JntArray &ub_) void SetSolveType classTRAC__IK_1_1TRAC__IK.html a32120c7560aadc3171dc290a640737fa (SolveType _type) TRAC_IK classTRAC__IK_1_1TRAC__IK.html a65aa7452b9056ef45cdc1b4180620823 (const KDL::Chain &_chain, const KDL::JntArray &_q_min, const KDL::JntArray &_q_max, double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed) TRAC_IK classTRAC__IK_1_1TRAC__IK.html a18ca0ea66603bc72118cbef14969cca1 (const std::string &base_link, const std::string &tip_link, const std::string &URDF_param="/robot_description", double _maxtime=0.005, double _eps=1e-5, SolveType _type=Speed) ~TRAC_IK classTRAC__IK_1_1TRAC__IK.html a31e642b69a1d44550f8d1d994be57ea8 () static double JointErr classTRAC__IK_1_1TRAC__IK.html a13c5d0206917db768becab25c33f44af (const KDL::JntArray &arr1, const KDL::JntArray &arr2) void initialize classTRAC__IK_1_1TRAC__IK.html ab72d2d56d2ff4e63c3b5f105043bb302 () double manipPenalty classTRAC__IK_1_1TRAC__IK.html abe2d44c14074c55fa14720a588ce4576 (const KDL::JntArray &) double ManipValue1 classTRAC__IK_1_1TRAC__IK.html a34db35355efb42b86fc147f48aa9f7ab (const KDL::JntArray &) double ManipValue2 classTRAC__IK_1_1TRAC__IK.html a5a4e7f37158a3c8e030683f514172766 (const KDL::JntArray &) bool myEqual classTRAC__IK_1_1TRAC__IK.html a6eb6bb1aef3980630679c8c2d8523201 (const KDL::JntArray &a, const KDL::JntArray &b) void normalize_limits classTRAC__IK_1_1TRAC__IK.html a28f151c846797c72625d6d7c3fec72b1 (const KDL::JntArray &seed, KDL::JntArray &solution) void normalize_seed classTRAC__IK_1_1TRAC__IK.html a80eb8bf32c2cdbe581669ff8fff272ed (const KDL::JntArray &seed, KDL::JntArray &solution) bool runKDL classTRAC__IK_1_1TRAC__IK.html ae03a3b4ecd0d0632c95132770ef82fe3 (const KDL::JntArray &q_init, const KDL::Frame &p_in) bool runNLOPT classTRAC__IK_1_1TRAC__IK.html ab65051bb1f90a87692cfa14dab4ffa4d (const KDL::JntArray &q_init, const KDL::Frame &p_in) bool runSolver classTRAC__IK_1_1TRAC__IK.html a2a254329bfe00c6864aefcd328b9dd35 (T1 &solver, T2 &other_solver, const KDL::JntArray &q_init, const KDL::Frame &p_in) bool unique_solution classTRAC__IK_1_1TRAC__IK.html a9ca8475c2d48c37acedd8a7a5e6a7da7 (const KDL::JntArray &sol) static double fRand classTRAC__IK_1_1TRAC__IK.html a9a1337377a4db4667b394534fa4562a0 (double min, double max) KDL::Twist bounds classTRAC__IK_1_1TRAC__IK.html af99e9de674cd2e2fe60598ba91fac539 KDL::Chain chain classTRAC__IK_1_1TRAC__IK.html a09dfa6ee0c733e7356406d2450c804e8 double eps classTRAC__IK_1_1TRAC__IK.html afc17ca9a1dbd386d2a3cd349056be843 std::vector< std::pair< double, uint > > errors classTRAC__IK_1_1TRAC__IK.html a80a88d1b321a5d960242bd607dcfb7d1 std::unique_ptr< KDL::ChainIkSolverPos_TL > iksolver classTRAC__IK_1_1TRAC__IK.html ae1b38a9beaeb4d1ecfaf7e0f580030a0 bool initialized classTRAC__IK_1_1TRAC__IK.html a540fbe827d1173f33c0efe8542c158e1 std::unique_ptr< KDL::ChainJntToJacSolver > jacsolver classTRAC__IK_1_1TRAC__IK.html a9cfdb82a3b161a1e7287310dbf395f73 KDL::JntArray lb classTRAC__IK_1_1TRAC__IK.html afd8e538233cabde078268e6d63203a22 double maxtime classTRAC__IK_1_1TRAC__IK.html a7fb309b121b1573766faceabb580209f std::mutex mtx_ classTRAC__IK_1_1TRAC__IK.html ad62f958dc5067066ec1d93af601abe98 std::unique_ptr< NLOPT_IK::NLOPT_IK > nl_solver classTRAC__IK_1_1TRAC__IK.html a55c6726d308f83f884c74b11ac260b13 std::vector< KDL::JntArray > solutions classTRAC__IK_1_1TRAC__IK.html a9b7e6ab187bfd5d5864fab253f9a8a6b SolveType solvetype classTRAC__IK_1_1TRAC__IK.html a0ece917580656c1470359a48237e0bc6 boost::posix_time::ptime start_time classTRAC__IK_1_1TRAC__IK.html a971c58a8a772bd106962960163ac0996 std::thread task1 classTRAC__IK_1_1TRAC__IK.html aea819b3cffd8237dcfdafa082f35a72f std::thread task2 classTRAC__IK_1_1TRAC__IK.html aa70dc0f23a6c9bdd3ff4697d04b0b373 std::vector< KDL::BasicJointType > types classTRAC__IK_1_1TRAC__IK.html ac371778ab75d862aa5a84c8b382b68a5 KDL::JntArray ub classTRAC__IK_1_1TRAC__IK.html aa768035c49c0e984d9fb0ae2c3243530 math3d::triangle structmath3d_1_1triangle.html triangle structmath3d_1_1triangle.html a8a2744455f063e3bf54c94c58c0919ff () triangle structmath3d_1_1triangle.html a6f2c03ec1dbd09e70ccafe63d02c33de (const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_) triangle structmath3d_1_1triangle.html a1281b8ee33e6b4fb4bb3a835a64de861 (const oriented_point3d &p0_, const oriented_point3d &p1_, const oriented_point3d &p2_, const normal3d &n_, int id0_, int id1_, int id2_) triangle structmath3d_1_1triangle.html a8bbb629ffe457e22ed0655637cbd70eb (const point3d &p0_, const point3d &p1_, const point3d &p2_, const normal3d &n_) triangle structmath3d_1_1triangle.html acede05b13468e85ae1156f1fd64f7af5 (int id0, int id1, int id2) int id0 structmath3d_1_1triangle.html ac8004ed1ded5950c4eef8261d6915e22 int id1 structmath3d_1_1triangle.html ad3505d4dddc0942841f430b88c039dfd int id2 structmath3d_1_1triangle.html abc04a393acb00fb0a7116397533521df normal3d n structmath3d_1_1triangle.html a8db3846876bcbf4d19ee9637a19288e5 oriented_point3d p0 structmath3d_1_1triangle.html ac28fa405b122973e492add98a512d13a oriented_point3d p1 structmath3d_1_1triangle.html a0ea69e8e6c83002db432b1c7ad2cdff1 oriented_point3d p2 structmath3d_1_1triangle.html aaa2244afbb836c5bd624049f8e541776 friend std::ostream & operator<< structmath3d_1_1triangle.html a7086a8d2df1a322dd8213e5c59de805a (std::ostream &o, const triangle &t) math3d::vec3d structmath3d_1_1vec3d.html bool operator!= structmath3d_1_1vec3d.html a91c5096d8e13a0d4b24f9de03e48418a (const vec3d &o) const bool operator!= structmath3d_1_1vec3d.html a2a0a981c8b69b53e1c650c44fda3c67e (const vec3d< S > &o) const vec3d< T > & operator*= structmath3d_1_1vec3d.html a8ffd24431fd760005b86441785b7e185 (const Scalar &s) vec3d< T > operator+ structmath3d_1_1vec3d.html ac91cfdcebb5312a68bc1cd25e092f1bb (const vec3d< T > &p) const vec3d< T > & operator+= structmath3d_1_1vec3d.html a07ec0bcbb17af08c89969789448c4b1a (const vec3d< S > &p) vec3d< T > & operator+= structmath3d_1_1vec3d.html aa2eaa811441797b45201c693d784ee5a (const vec3d< T > &p) vec3d< T > operator- structmath3d_1_1vec3d.html a0edaefcf100380f31eec3601a9d910f7 () const vec3d< T > operator- structmath3d_1_1vec3d.html a0d0a4b8e8e077a2618d4b03ceec9e6e9 (const vec3d< T > &p) const vec3d< T > & operator-= structmath3d_1_1vec3d.html a33456a8c2d6aaac5f5a87e20b1defcb4 (const vec3d< S > &p) vec3d< T > & operator-= structmath3d_1_1vec3d.html a46ad32e1f627711c2a5b41e8b422f478 (const vec3d< T > &p) vec3d< T > & operator/= structmath3d_1_1vec3d.html aa926acf0369aec45764ccafb9bd558f2 (const Scalar &s) bool operator== structmath3d_1_1vec3d.html a099cb1b45a33fea8c5b2359e62092dea (const vec3d &o) const bool operator== structmath3d_1_1vec3d.html a207d66e9eb4e8a39085e1afc74f3ca94 (const vec3d< S > &o) const vec3d structmath3d_1_1vec3d.html a9d7b1f79b7a7882a251aad9e79e4a27f () vec3d structmath3d_1_1vec3d.html a76d9267dcd3be29de7d2c239f1fc012f (const S *s) vec3d structmath3d_1_1vec3d.html a9e9785b3bbc5014e9bc39a430fc3e44f (const vec3d< S > &s) vec3d structmath3d_1_1vec3d.html a54f1c54162b7a8c1430145a4d71cbfbc (T x_, T y_, T z_) T x structmath3d_1_1vec3d.html a1065770533920946d1bf3a8f831da3fe T y structmath3d_1_1vec3d.html abe4b25501b8a64362041ae1430f78437 T z structmath3d_1_1vec3d.html aaccba4853c63f6cc8e9978eb537c347f friend vec3d< T > operator* structmath3d_1_1vec3d.html a494bc797b53db59c392dd32a04177176 (const Scalar &s, const vec3d< T > &p) friend vec3d< T > operator* structmath3d_1_1vec3d.html a90f5d14e018ba0af49b8e42ac05f0332 (const vec3d< T > &p, const Scalar &s) friend vec3d< T > operator/ structmath3d_1_1vec3d.html a4291c2d36d9af1d5aa56f163947282fe (const vec3d< T > &p, const Scalar &s) friend std::ostream & operator<< structmath3d_1_1vec3d.html ae0eafe2f2679d5a343477e68096f1439 (std::ostream &os, const vec3d< T > &p) friend std::istream & operator>> structmath3d_1_1vec3d.html aed4695fbef265668a232a8981b11f184 (std::istream &is, vec3d< T > &p) vec3d< double > structmath3d_1_1vec3d.html bool operator!= structmath3d_1_1vec3d.html a91c5096d8e13a0d4b24f9de03e48418a (const vec3d &o) const bool operator!= structmath3d_1_1vec3d.html a2a0a981c8b69b53e1c650c44fda3c67e (const vec3d< S > &o) const vec3d< double > & operator*= structmath3d_1_1vec3d.html a8ffd24431fd760005b86441785b7e185 (const Scalar &s) vec3d< double > operator+ structmath3d_1_1vec3d.html ac91cfdcebb5312a68bc1cd25e092f1bb (const vec3d< double > &p) const vec3d< double > & operator+= structmath3d_1_1vec3d.html aa2eaa811441797b45201c693d784ee5a (const vec3d< double > &p) vec3d< double > & operator+= structmath3d_1_1vec3d.html a07ec0bcbb17af08c89969789448c4b1a (const vec3d< S > &p) vec3d< double > operator- structmath3d_1_1vec3d.html a0edaefcf100380f31eec3601a9d910f7 () const vec3d< double > operator- structmath3d_1_1vec3d.html a0d0a4b8e8e077a2618d4b03ceec9e6e9 (const vec3d< double > &p) const vec3d< double > & operator-= structmath3d_1_1vec3d.html a46ad32e1f627711c2a5b41e8b422f478 (const vec3d< double > &p) vec3d< double > & operator-= structmath3d_1_1vec3d.html a33456a8c2d6aaac5f5a87e20b1defcb4 (const vec3d< S > &p) vec3d< double > & operator/= structmath3d_1_1vec3d.html aa926acf0369aec45764ccafb9bd558f2 (const Scalar &s) bool operator== structmath3d_1_1vec3d.html a099cb1b45a33fea8c5b2359e62092dea (const vec3d &o) const bool operator== structmath3d_1_1vec3d.html a207d66e9eb4e8a39085e1afc74f3ca94 (const vec3d< S > &o) const vec3d structmath3d_1_1vec3d.html a9d7b1f79b7a7882a251aad9e79e4a27f () vec3d structmath3d_1_1vec3d.html a76d9267dcd3be29de7d2c239f1fc012f (const S *s) vec3d structmath3d_1_1vec3d.html a9e9785b3bbc5014e9bc39a430fc3e44f (const vec3d< S > &s) vec3d structmath3d_1_1vec3d.html a54f1c54162b7a8c1430145a4d71cbfbc (double x_, double y_, double z_) double x structmath3d_1_1vec3d.html a1065770533920946d1bf3a8f831da3fe double y structmath3d_1_1vec3d.html abe4b25501b8a64362041ae1430f78437 double z structmath3d_1_1vec3d.html aaccba4853c63f6cc8e9978eb537c347f friend vec3d< double > operator* structmath3d_1_1vec3d.html a494bc797b53db59c392dd32a04177176 (const Scalar &s, const vec3d< double > &p) friend vec3d< double > operator* structmath3d_1_1vec3d.html a90f5d14e018ba0af49b8e42ac05f0332 (const vec3d< double > &p, const Scalar &s) friend vec3d< double > operator/ structmath3d_1_1vec3d.html a4291c2d36d9af1d5aa56f163947282fe (const vec3d< double > &p, const Scalar &s) friend std::ostream & operator<< structmath3d_1_1vec3d.html ae0eafe2f2679d5a343477e68096f1439 (std::ostream &os, const vec3d< double > &p) friend std::istream & operator>> structmath3d_1_1vec3d.html aed4695fbef265668a232a8981b11f184 (std::istream &is, vec3d< double > &p) KDL namespaceKDL.html KDL::ChainIkSolverPos_TL BasicJointType namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20 RotJoint namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20af6f97a1a275e5a5cdb83c760c5aab940 TransJoint namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20a276798ee46116c2852de51c17e0ec168 Continuous namespaceKDL.html ae1962cb9cb6cad0627e1827071e3ff20a76c70fc07fc202b9595c67c737a51b58 IMETHOD Twist diffRelative namespaceKDL.html a909c50341bd06b4a13fd9c91f618b44b (const Frame &F_a_b1, const Frame &F_a_b2, double dt=1) math3d namespacemath3d.html math3d::color_rgb24 math3d::invalid_vector math3d::matrix math3d::matrix3x3 math3d::oriented_point3d math3d::quaternion math3d::triangle math3d::vec3d vec3d< double > normal3d namespacemath3d.html a3f6f3986347e93c0d2431d5812ded814 vec3d< double > point3d namespacemath3d.html ac16b44a3f36c0f61a54c5f97a7c98c86 std::pair< matrix3x3< double >, point3d > rigid_motion_t namespacemath3d.html a2a1ca474e454713bbffebd378dd4e86a bool almost_zero namespacemath3d.html a6044b1be5a6dc8596fb09d80353119f8 (T a, double e) void conjugate namespacemath3d.html a0bcb3156a3df0ac31a405c62a142c161 (quaternion< T > &q) vec3d< T > cross_product namespacemath3d.html af819434f5430e6cdb7274aba561726a8 (const vec3d< T > &v1, const vec3d< T > &v2) double dist namespacemath3d.html a34156307d61c636ea500c51cdd6678f2 (const T &p1, const T &p2) T dot namespacemath3d.html a977e5fd6f0f340a95bd70d300fe41201 (const quaternion< T > &a, const quaternion< T > &b) T dot_product namespacemath3d.html a639981f8728f401b5bbceb39bf372a12 (const quaternion< T > &p, const quaternion< T > &q) double dot_product namespacemath3d.html ac349d8ff1091579210f0869fa92ee783 (const vec3d< T > &v1, const vec3d< S > &v2) T dot_product namespacemath3d.html abc6e60b3c52ef34e426d2035ba133765 (const vec3d< T > &v1, const vec3d< T > &v2) vec3d< T > get_normalize namespacemath3d.html a9bcc8340bc2b3e0c6943756846a88f9b (const vec3d< T > &p) vec3d< T > get_rotate namespacemath3d.html aafd75d6a9deabf0d59c5b9a3a88d95db (const vec3d< T > &p, const matrix3x3< T > &rot) vec3d< T > get_rotate namespacemath3d.html a97329e36b3f1795b39464cddfb649972 (const vec3d< T > &v, const quaternion< T > &q) vec3d< T > get_rotate_translate namespacemath3d.html a8a7e66fa0958c3eb02c6fa3db9575ea6 (const vec3d< T > &p, const matrix3x3< T > &rot, const point3d &t) vec3d< T > get_rotate_translate namespacemath3d.html af768a196f9e52a080af4ead00a49eb71 (const vec3d< T > &p, const matrix< T > &rot, const point3d &t) vec3d< T > get_rotate_translate namespacemath3d.html aff6eee3d95165f30bc9fe71ab7c8e734 (const vec3d< T > &p, const T *rot, const T *t) vec3d< T > get_rotate_translate namespacemath3d.html a1c6a35ac1e0007a6412eea5c1e69c10d (const vec3d< T > &v, const quaternion< T > &rot, const point3d &t) matrix3x3< T > get_transpose namespacemath3d.html a7c969af14b05c0b77f2810124054b979 (const matrix3x3< T > &m) matrix3x3< T > identity3x3 namespacemath3d.html ab33464abf2c62055e191055df961ba3c () void invert namespacemath3d.html a4b73a8c08dcbb3cc875996a815cef551 (R &r, T &t) double magnitude namespacemath3d.html a6149f30261c16dab99f52c8496718f44 (const T &p) double median namespacemath3d.html a7a6d413c3fd8a41c1af00cdd9a710ae7 (Iterator start, Iterator end) void mult_matrix namespacemath3d.html a5cdd916e948d33f0e7970c6230738d1e (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r) void mult_matrix namespacemath3d.html adc320801a7f208ff64f68ebbcdfa07fe (const Rot1 &m1, const Rot2 &m2, Rot3 &r) void mult_matrix_inplace namespacemath3d.html a389a9726ee3b4a8aa669b27532486cd9 (const matrix3x3< T > &m1, const matrix3x3< T > &m2, matrix3x3< T > &r) void mult_quaternion namespacemath3d.html ad630187b9430df515e76dd9f5af2902e (const quaternion< T > &a, const quaternion< T > &b, quaternion< T > &r) T norm namespacemath3d.html a4bec8e5bb1312b5a2f12ac50541c4e5e (const quaternion< T > &a) double norm2 namespacemath3d.html a954432307872ae46e637a30dbcf4c014 (const T &v) void normalize namespacemath3d.html a5114f59f0561f3d80c4542fb0c3b8d69 (quaternion< T > &q) double normalize namespacemath3d.html a7a93e24bcac87fe99f526bf0c77d1739 (vec3d< T > &p) quaternion< T > operator* namespacemath3d.html a95813fdac8a5367ad196e4cfda97624a (const quaternion< T > &a, const quaternion< T > &b) quaternion< T > operator+ namespacemath3d.html a135f3dc74626c2d58d1d56fac5b23ed1 (const quaternion< T > &a, const quaternion< T > &b) quaternion< T > operator~ namespacemath3d.html ac344a97ce3e073d7babc2e49959bbe61 (const quaternion< T > &a) matrix3x3< T > quaternion_to_rot_matrix namespacemath3d.html af12cd151bb50be9ce88ef6469bc5bfb5 (const quaternion< T > &q) void relative_motion namespacemath3d.html af12acf9586f48881698ac63e0fb08454 (const matrix3x3< T > &Ri, const point3d &Ti, const matrix3x3< T > &Rj, const point3d &Tj, matrix3x3< T > &Rij, point3d &Tij) quaternion< T > rot_matrix_to_quaternion namespacemath3d.html a001df62974d8314b513a46f591df8445 (const matrix3x3< T > &m) void rotate namespacemath3d.html a136e40d9439d02fe5766d386deb94859 (vec3d< T > &p, const matrix3x3< S > &rot) void rotate namespacemath3d.html a8061261dfbe6807e91bf0f0b83c73761 (vec3d< T > &p, const matrix3x3< T > &rot) void rotate namespacemath3d.html a7912e450c77cd86925aeb895966eacb7 (vec3d< T > &p, const matrix< S > &rot) void rotate namespacemath3d.html a3e8782ea8742c05bea04b1d10848bdbc (vec3d< T > &p, const matrix< T > &rot) void rotate namespacemath3d.html aed1589940ab8397bb56e4de9a011c834 (vec3d< T > &p, const quaternion< T > &rot) void rotate_translate namespacemath3d.html a2e273ced84ce3ab79fb316717b00c0e2 (vec3d< T > &v, const RotationType &rot, const point3d &trans) void set_identity namespacemath3d.html a3cde300ae9781a9eb3557393ab055dee (matrix3x3< T > &m, T val=1) void set_identity namespacemath3d.html a05cbbe32c06121ef98ab195de35ee98b (matrix< T > &m, T val=1) void set_identity namespacemath3d.html a1a43556607165955ee62c9786e6c822d (quaternion< T > &q) double squared_dist namespacemath3d.html af4fa74d780ab9d8c387044159944c8d5 (const vec3d< T > &p1, const vec3d< T > &p2) void transpose namespacemath3d.html a6cf66edb00aa93d337f8b77a0b81f397 (const matrix3x3< T > &src, matrix3x3< T > &dest) void transpose namespacemath3d.html a50d87711392ff38821bb1867f8459d29 (const matrix< T > &src, matrix< T > &dest) void transpose namespacemath3d.html a3d4b472c1eeda86f4a1e6c23ac67afae (matrix3x3< T > &m) void transpose namespacemath3d.html a13aafc19fac89ac73b5ce1a1d63ed613 (matrix< T > &m) static const double deg_on_rad namespacemath3d.html a8f3db0db20a3556fa2ec98ef8a775ab6 static const double pi namespacemath3d.html ae87c968fca69098c3f611f4819924fe8 static const double rad_on_deg namespacemath3d.html a57a228035796970447a54f94759aeaec NLOPT_IK namespaceNLOPT__IK.html NLOPT_IK::NLOPT_IK OptType namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38a Joint namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa80e4314dedf79ab11f959c4384b99a0f DualQuat namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aadecb9959999c6059fa6d1e888c451a09 SumSq namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa25fb880607b8fb66d9aef7f18187f19f L2 namespaceNLOPT__IK.html a188014d03229b2e33ba303dc7902b38aa15ad82463f8076d5959ed714e5f36317 void constrainfuncm namespaceNLOPT__IK.html a48c1a6da9465a095574d5f56d97f9ea9 (uint m, double *result, uint n, const double *x, double *grad, void *data) double minfunc namespaceNLOPT__IK.html a8ae7fcc8897fd4b2c2df8f0a28981adb (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncDQ namespaceNLOPT__IK.html a0b7f0d20bbce67ad832d89edda3f6600 (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncL2 namespaceNLOPT__IK.html ad06855e1d11df63fa17566c2c8a8349d (const std::vector< double > &x, std::vector< double > &grad, void *data) double minfuncSumSquared namespaceNLOPT__IK.html a13785f6e1ca2aedaa6c31596a1eebd5b (const std::vector< double > &x, std::vector< double > &grad, void *data) dual_quaternion targetDQ namespaceNLOPT__IK.html a7a47e862bf31c8935280e2ed21d2d740 TRAC_IK namespaceTRAC__IK.html TRAC_IK::TRAC_IK SolveType namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91 Speed namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a23fe834c5869bd2c3491272418638b99 Distance namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91aaaac012235eb2eb6637072b36b7c99e5 Manip1 namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a5cbfabe019d09b1af51bb33be915fae6 Manip2 namespaceTRAC__IK.html af718f8dd8173681cb3d85876fb5d2f91a41e2a60888b4c53ac140a9278185f58b void normalizeAngle namespaceTRAC__IK.html a63957187d69471f9b0922ab6f6e481b4 (double &val, const double &min, const double &max) void normalizeAngle namespaceTRAC__IK.html aaa556cea26caee6ea1cb4f27ff0bcdd5 (double &val, const double &target)