__init__.py /tmp/ws/src/universal_robots/ur_kinematics/src/ur_kinematics/ ____init_____8py.html ur_kinematics ikfast.h /tmp/ws/src/universal_robots/ur_kinematics/include/ur_kinematics/ ikfast_8h.html ikfast #define IKFAST_VERSION ikfast_8h.html afb507c47cee8d15d0241aa894bef5a67 setup.py /tmp/ws/src/universal_robots/ur_kinematics/ setup_8py.html setup test_analytical_ik.py /tmp/ws/src/universal_robots/ur_kinematics/src/ur_kinematics/ test__analytical__ik_8py.html ur_kinematics::test_analytical_ik def best_sol namespaceur__kinematics_1_1test__analytical__ik.html ad7c5a65fca5928002ed7b0d3b1840a71 (sols, q_guess, weights) def main namespaceur__kinematics_1_1test__analytical__ik.html aed6a2f33863a3032ba418343918db469 () def test_q namespaceur__kinematics_1_1test__analytical__ik.html a41c7535e0b5c15834ef629a48fe34122 (q) ur_kin.cpp /tmp/ws/src/universal_robots/ur_kinematics/src/ ur__kin_8cpp.html ur_kinematics/ur_kin.h ur_kinematics/ikfast.h ur_kinematics #define IKFAST_COMPILE_ASSERT ur__kin_8cpp.html a14ff3dec1d7bf1b6f8bc3a7dcc0ed883 (x) #define IKFAST_HAS_LIBRARY ur__kin_8cpp.html aa9b5df21ca9479bf3deaa7da9845cd6c IKFAST_API void ComputeFk ur__kin_8cpp.html ac5b257dc48deeb1c904d40b5dbf4a5a4 (const IkReal *j, IkReal *eetrans, IkReal *eerot) IKFAST_API bool ComputeIk ur__kin_8cpp.html ad6e97fc303efda1a956b9a044f8424fc (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions) void forward namespaceur__kinematics.html a5c91270de9f26aed4497ecbaea669705 (const double *q, double *T) void forward_all namespaceur__kinematics.html afa1a9366306b4588592d6feb0ee4706f (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6) void from_mat44 ur__kin_8cpp.html ad126680d457be28d084400ba356771df (const double *mat4_4, IkReal *eetrans, IkReal *eerot) IKFAST_API int * GetFreeParameters ur__kin_8cpp.html a17f253d85cd4ac00e8840c417eef2487 () IKFAST_API int GetIkRealSize ur__kin_8cpp.html a6709f20b26f0903f0aa58a26934c853c () IKFAST_API int GetNumFreeParameters ur__kin_8cpp.html af0cf03d3ad69d099a9a2eb6db5e5b352 () IKFAST_API int GetNumJoints ur__kin_8cpp.html a3e9541dde410904e043fe18701061b62 () IKFAST_COMPILE_ASSERT ur__kin_8cpp.html adf4b4c56fd2ff1b505933aef3f73caab (IKFAST_VERSION==61) int inverse namespaceur__kinematics.html a646ec93ed8dbf975847a717b9cc285a6 (const double *T, double *q_sols, double q6_des=0.0) int main ur__kin_8cpp.html a0ddf1224851353fc92bfbff6f499fa97 (int argc, char *argv[]) void to_mat44 ur__kin_8cpp.html aa3c2ffca0647d71fc6efc377dbf4405b (double *mat4_4, const IkReal *eetrans, const IkReal *eerot) ur_kin.h /tmp/ws/src/universal_robots/ur_kinematics/include/ur_kinematics/ ur__kin_8h.html ur_kinematics void forward namespaceur__kinematics.html a5c91270de9f26aed4497ecbaea669705 (const double *q, double *T) void forward_all namespaceur__kinematics.html afa1a9366306b4588592d6feb0ee4706f (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6) int inverse namespaceur__kinematics.html a646ec93ed8dbf975847a717b9cc285a6 (const double *T, double *q_sols, double q6_des=0.0) ur_kin_py.cpp /tmp/ws/src/universal_robots/ur_kinematics/src/ ur__kin__py_8cpp.html ur_kinematics/ur_kin.h BOOST_PYTHON_MODULE ur__kin__py_8cpp.html a571b768b50a4ce7578bf6852ca2be2b3 (ur_kin_py) np::ndarray forward_wrapper ur__kin__py_8cpp.html abe7d7515c18f499173435fec1473afc3 (np::ndarray const &q_arr) np::ndarray inverse_wrapper ur__kin__py_8cpp.html acfdeedf72877b3cad3e215ea7dc7840d (np::ndarray const &array, PyObject *q6_des_py) ur_moveit_plugin.cpp /tmp/ws/src/universal_robots/ur_kinematics/src/ ur__moveit__plugin_8cpp.html ur_kinematics/ur_moveit_plugin.h ur_kinematics/ur_kin.h ur_kinematics std::pair< int, double > idx_double namespaceur__kinematics.html a93163ba76281c71b64a02362ad46e2a7 bool comparator namespaceur__kinematics.html a690452919cf10eb6adfe95c107c57173 (const idx_double &l, const idx_double &r) ur_moveit_plugin.h /tmp/ws/src/universal_robots/ur_kinematics/include/ur_kinematics/ ur__moveit__plugin_8h.html ur_kinematics::URKinematicsPlugin ur_kinematics ur_kinematics::URKinematicsPlugin classur__kinematics_1_1URKinematicsPlugin.html kinematics::KinematicsBase const std::vector< std::string > & getJointNames classur__kinematics_1_1URKinematicsPlugin.html ad7de3c663f533804d8a4d2eedcec17d4 () const const std::vector< std::string > & getLinkNames classur__kinematics_1_1URKinematicsPlugin.html aa89ead31cc73c54f203f96b81c9bcb16 () const virtual bool getPositionFK classur__kinematics_1_1URKinematicsPlugin.html a3df7ee83ae11f3159c4517b16714bed5 (const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const virtual bool getPositionIK classur__kinematics_1_1URKinematicsPlugin.html a9fd71f052bab88e1fa8d2a571a4398a8 (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 virtual bool initialize classur__kinematics_1_1URKinematicsPlugin.html ac52dea5c2c6e2c5628d2e2a04f78866f (const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) virtual bool searchPositionIK classur__kinematics_1_1URKinematicsPlugin.html a7f599d6dbdf4acfbadfbfbd149e46771 (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 virtual bool searchPositionIK classur__kinematics_1_1URKinematicsPlugin.html ac6c04731d27f228fef16b10ed7cfda0f (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 virtual bool searchPositionIK classur__kinematics_1_1URKinematicsPlugin.html a951ce4b2707659a96ee084dbb9bc90ba (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 virtual bool searchPositionIK classur__kinematics_1_1URKinematicsPlugin.html ab10d2c2164ea68b04f76b9e4710557d8 (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 URKinematicsPlugin classur__kinematics_1_1URKinematicsPlugin.html a0d2a26581992b69ad9bbe8ea4fb95ad4 () bool searchPositionIK classur__kinematics_1_1URKinematicsPlugin.html a431f4eb5ec2bd7976b2a6afd36539f45 (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 std::vector< double > &consistency_limits, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const virtual bool setRedundantJoints classur__kinematics_1_1URKinematicsPlugin.html ad2ff6f037904d90ae1d9309ef6d07724 (const std::vector< unsigned int > &redundant_joint_indices) bool checkConsistency classur__kinematics_1_1URKinematicsPlugin.html a0935f55ab53f08e13a4c2564511819e7 (const KDL::JntArray &seed_state, const std::vector< double > &consistency_limit, const KDL::JntArray &solution) const int getJointIndex classur__kinematics_1_1URKinematicsPlugin.html a4accca48f6a673035b4a9f6236de3a07 (const std::string &name) const int getKDLSegmentIndex classur__kinematics_1_1URKinematicsPlugin.html afc40f95d15ab2cda873b1c9f3c228473 (const std::string &name) const void getRandomConfiguration classur__kinematics_1_1URKinematicsPlugin.html a9cb280489498109139ba28d8b3affcd8 (const KDL::JntArray &seed_state, const std::vector< double > &consistency_limits, KDL::JntArray &jnt_array, bool lock_redundancy) const void getRandomConfiguration classur__kinematics_1_1URKinematicsPlugin.html ae60208f71bb08ad71fb4087f2881ca50 (KDL::JntArray &jnt_array, bool lock_redundancy) const bool isRedundantJoint classur__kinematics_1_1URKinematicsPlugin.html abc9e5ad5af9f1911a14ddd17252ee8fe (unsigned int index) const bool timedOut classur__kinematics_1_1URKinematicsPlugin.html a1084f8ce472ddcd9c52980ef0ba4b537 (const ros::WallTime &start_time, double duration) const bool active_ classur__kinematics_1_1URKinematicsPlugin.html aaa596fae0e9ba40050678bb9b4aa07ee std::string arm_prefix_ classur__kinematics_1_1URKinematicsPlugin.html a6a85aa53966e7647e8d45e05a4ae7280 unsigned int dimension_ classur__kinematics_1_1URKinematicsPlugin.html ad94be323a2b00d1f00a2aa5cb93e8d37 double epsilon_ classur__kinematics_1_1URKinematicsPlugin.html acfa2c2d0dc50dae83414a7abc3960692 moveit_msgs::KinematicSolverInfo fk_chain_info_ classur__kinematics_1_1URKinematicsPlugin.html a682a88c55a00052eacca22e745644a63 moveit_msgs::KinematicSolverInfo ik_chain_info_ classur__kinematics_1_1URKinematicsPlugin.html a454faa3d7afd51a74669db50c4938731 std::vector< double > ik_weights_ classur__kinematics_1_1URKinematicsPlugin.html a9017670f848101dcef01b7dc1d08976a KDL::JntArray joint_max_ classur__kinematics_1_1URKinematicsPlugin.html ae5883c633d12b5766d40182e08f53562 KDL::JntArray joint_min_ classur__kinematics_1_1URKinematicsPlugin.html a06b482e3fad33805c206616b26b4538b const robot_model::JointModelGroup * joint_model_group_ classur__kinematics_1_1URKinematicsPlugin.html a7d6dd0afac4016662f93a0f358421159 KDL::Chain kdl_base_chain_ classur__kinematics_1_1URKinematicsPlugin.html ab3d7299ae72f6d75db78cf234eab5399 KDL::Chain kdl_chain_ classur__kinematics_1_1URKinematicsPlugin.html a5592b41fcabe897fd221a810e58ecf0b KDL::Chain kdl_tip_chain_ classur__kinematics_1_1URKinematicsPlugin.html a9bb68f242d5ce6e934c42df5770540c5 double max_solver_iterations_ classur__kinematics_1_1URKinematicsPlugin.html acacae74c530b7ad0a509206819353080 std::vector< kdl_kinematics_plugin::JointMimic > mimic_joints_ classur__kinematics_1_1URKinematicsPlugin.html a5b66170a22bfa4b18324b48b03981615 int num_possible_redundant_joints_ classur__kinematics_1_1URKinematicsPlugin.html a861b68d48c03421c2bab2cc5a2ef90a8 bool position_ik_ classur__kinematics_1_1URKinematicsPlugin.html ab10c50b3e70559afa82d1f0c00884d80 random_numbers::RandomNumberGenerator random_number_generator_ classur__kinematics_1_1URKinematicsPlugin.html add030862867442a36fc42443828fc7f6 std::vector< unsigned int > redundant_joints_map_index_ classur__kinematics_1_1URKinematicsPlugin.html ad2a0d9154fddcc3844bc48256efdb79b robot_state::RobotStatePtr state_ classur__kinematics_1_1URKinematicsPlugin.html a57b33e56019bd1181d8fee2a6293e681 robot_state::RobotStatePtr state_2_ classur__kinematics_1_1URKinematicsPlugin.html aa3f98fe5bf9d61f95e5f4ec454f07c35 int ur_joint_inds_start_ classur__kinematics_1_1URKinematicsPlugin.html aea2cd43e74fae3349927b6b4064fd812 std::vector< std::string > ur_joint_names_ classur__kinematics_1_1URKinematicsPlugin.html a031f1ce80e444a4f4a7a64d7558fe11b std::vector< std::string > ur_link_names_ classur__kinematics_1_1URKinematicsPlugin.html aaf01f62adfa45bfa9cfeb07ed5a975dc ikfast namespaceikfast.html setup namespacesetup.html ur_kinematics namespaceur__kinematics.html ur_kinematics::test_analytical_ik ur_kinematics::URKinematicsPlugin std::pair< int, double > idx_double namespaceur__kinematics.html a93163ba76281c71b64a02362ad46e2a7 bool comparator namespaceur__kinematics.html a690452919cf10eb6adfe95c107c57173 (const idx_double &l, const idx_double &r) void forward namespaceur__kinematics.html a5c91270de9f26aed4497ecbaea669705 (const double *q, double *T) void forward_all namespaceur__kinematics.html afa1a9366306b4588592d6feb0ee4706f (const double *q, double *T1, double *T2, double *T3, double *T4, double *T5, double *T6) int inverse namespaceur__kinematics.html a646ec93ed8dbf975847a717b9cc285a6 (const double *T, double *q_sols, double q6_des=0.0) ur_kinematics::test_analytical_ik namespaceur__kinematics_1_1test__analytical__ik.html def best_sol namespaceur__kinematics_1_1test__analytical__ik.html ad7c5a65fca5928002ed7b0d3b1840a71 (sols, q_guess, weights) def main namespaceur__kinematics_1_1test__analytical__ik.html aed6a2f33863a3032ba418343918db469 () def test_q namespaceur__kinematics_1_1test__analytical__ik.html a41c7535e0b5c15834ef629a48fe34122 (q)