IKSolver Class Reference

Public Member Functions
bool	ComputeIk (const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)

Public Attributes
unsigned char	_ij0 [2]
unsigned char	_ij1 [2]
unsigned char	_ij2 [2]
unsigned char	_ij3 [2]
unsigned char	_ij4 [2]
unsigned char	_ij5 [2]
unsigned char	_nj0
unsigned char	_nj1
unsigned char	_nj2
unsigned char	_nj3
unsigned char	_nj4
unsigned char	_nj5
IkReal	cj0
IkReal	cj1
IkReal	cj2
IkReal	cj3
IkReal	cj4
IkReal	cj5
IkReal	htj0
IkReal	htj1
IkReal	htj2
IkReal	htj3
IkReal	htj4
IkReal	htj5
IkReal	j0
IkReal	j1
IkReal	j2
IkReal	j3
IkReal	j4
IkReal	j5
IkReal	new_px
IkReal	new_py
IkReal	new_pz
IkReal	new_r00
IkReal	new_r01
IkReal	new_r02
IkReal	new_r10
IkReal	new_r11
IkReal	new_r12
IkReal	new_r20
IkReal	new_r21
IkReal	new_r22
IkReal	npx
IkReal	npy
IkReal	npz
IkReal	pp
IkReal	px
IkReal	py
IkReal	pz
IkReal	r00
IkReal	r01
IkReal	r02
IkReal	r10
IkReal	r11
IkReal	r12
IkReal	r20
IkReal	r21
IkReal	r22
IkReal	rxp0_0
IkReal	rxp0_1
IkReal	rxp0_2
IkReal	rxp1_0
IkReal	rxp1_1
IkReal	rxp1_2
IkReal	rxp2_0
IkReal	rxp2_1
IkReal	rxp2_2
IkReal	sj0
IkReal	sj1
IkReal	sj2
IkReal	sj3
IkReal	sj4
IkReal	sj5

Detailed Description

Definition at line 382 of file abb_irb2400_manipulator_ikfast_solver.cpp.

Member Function Documentation

ComputeIk()

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

inline

Definition at line 391 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rotationfunction0()

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > &  solutions )

inline

Definition at line 862 of file abb_irb2400_manipulator_ikfast_solver.cpp.

Member Data Documentation

_ij0

unsigned char IKSolver::_ij0[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_ij1

unsigned char IKSolver::_ij1[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_ij2

unsigned char IKSolver::_ij2[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_ij3

unsigned char IKSolver::_ij3[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_ij4

unsigned char IKSolver::_ij4[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_ij5

unsigned char IKSolver::_ij5[2]

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj0

unsigned char IKSolver::_nj0

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj1

unsigned char IKSolver::_nj1

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj2

unsigned char IKSolver::_nj2

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj3

unsigned char IKSolver::_nj3

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj4

unsigned char IKSolver::_nj4

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

_nj5

unsigned char IKSolver::_nj5

Definition at line 389 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj0

IkReal IKSolver::cj0

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj1

IkReal IKSolver::cj1

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj2

IkReal IKSolver::cj2

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj3

IkReal IKSolver::cj3

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj4

IkReal IKSolver::cj4

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

cj5

IkReal IKSolver::cj5

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj0

IkReal IKSolver::htj0

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj1

IkReal IKSolver::htj1

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj2

IkReal IKSolver::htj2

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj3

IkReal IKSolver::htj3

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj4

IkReal IKSolver::htj4

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

htj5

IkReal IKSolver::htj5

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j0

IkReal IKSolver::j0

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j1

IkReal IKSolver::j1

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j2

IkReal IKSolver::j2

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j3

IkReal IKSolver::j3

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j4

IkReal IKSolver::j4

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

j5

IkReal IKSolver::j5

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_px

IkReal IKSolver::new_px

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_py

IkReal IKSolver::new_py

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_pz

IkReal IKSolver::new_pz

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r00

IkReal IKSolver::new_r00

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r01

IkReal IKSolver::new_r01

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r02

IkReal IKSolver::new_r02

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r10

IkReal IKSolver::new_r10

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r11

IkReal IKSolver::new_r11

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r12

IkReal IKSolver::new_r12

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r20

IkReal IKSolver::new_r20

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r21

IkReal IKSolver::new_r21

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

new_r22

IkReal IKSolver::new_r22

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

npx

IkReal IKSolver::npx

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

npy

IkReal IKSolver::npy

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

npz

IkReal IKSolver::npz

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

pp

IkReal IKSolver::pp

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

px

IkReal IKSolver::px

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

py

IkReal IKSolver::py

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

pz

IkReal IKSolver::pz

Definition at line 388 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r00

IkReal IKSolver::r00

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r01

IkReal IKSolver::r01

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r02

IkReal IKSolver::r02

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r10

IkReal IKSolver::r10

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r11

IkReal IKSolver::r11

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r12

IkReal IKSolver::r12

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r20

IkReal IKSolver::r20

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r21

IkReal IKSolver::r21

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

r22

IkReal IKSolver::r22

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp0_0

IkReal IKSolver::rxp0_0

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp0_1

IkReal IKSolver::rxp0_1

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp0_2

IkReal IKSolver::rxp0_2

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp1_0

IkReal IKSolver::rxp1_0

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp1_1

IkReal IKSolver::rxp1_1

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp1_2

IkReal IKSolver::rxp1_2

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp2_0

IkReal IKSolver::rxp2_0

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp2_1

IkReal IKSolver::rxp2_1

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

rxp2_2

IkReal IKSolver::rxp2_2

Definition at line 387 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj0

IkReal IKSolver::sj0

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj1

IkReal IKSolver::sj1

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj2

IkReal IKSolver::sj2

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj3

IkReal IKSolver::sj3

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj4

IkReal IKSolver::sj4

Definition at line 385 of file abb_irb2400_manipulator_ikfast_solver.cpp.

sj5

IkReal IKSolver::sj5

Definition at line 386 of file abb_irb2400_manipulator_ikfast_solver.cpp.

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The documentation for this class was generated from the following file:

• abb_irb2400_manipulator_ikfast_solver.cpp