#include <tesseract_common/macros.h>
#include <tesseract_kinematics/ikfast/external/ikfast.h>
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>

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Classes
struct	CheckValue< T >

class	IKSolver

Macros
#define	__PRETTY_FUNCTION__ __func__

#define	IK2PI ((IkReal)6.28318530717959)

#define	IKFAST_ALIGNED16(x) x __attribute((aligned(16)))

#define	IKFAST_ASSERT(b)

#define	IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)

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

#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

#define	IKFAST_NO_MAIN

#define	IKFAST_SINCOS_THRESH ((IkReal)1e-7)

#define	IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI_2 ((IkReal)1.57079632679490)

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)

IKFAST_API bool	ComputeIk2 (const IkReal eetrans, const IkReal eerot, const IkReal pfree, IkSolutionListBase< IkReal > &solutions, void pOpenRAVEManip)

void	dgeev_ (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_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)

void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)

void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)

void	dgetrs_ (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 ()

const IKFAST_API char *	GetIkFastVersion ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetIkType ()

const IKFAST_API char *	GetKinematicsHash ()

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int	GetNumJoints ()

double	IKabs (double f)

float	IKabs (float f)

double	IKacos (double f)

float	IKacos (float f)

double	IKasin (double f)

float	IKasin (float f)

double	IKatan2 (double fy, double fx)

float	IKatan2 (float fy, float fx)

double	IKatan2Simple (double fy, double fx)

float	IKatan2Simple (float fy, float fx)

template<typename T >
CheckValue< T >	IKatan2WithCheck (T fy, T fx, T epsilon)

double	IKcos (double f)

float	IKcos (float f)

	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)

double	IKfmod (double x, double y)

float	IKfmod (float x, float y)

double	IKlog (double f)

float	IKlog (float f)

template<typename T >
CheckValue< T >	IKPowWithIntegerCheck (T f, int n)

double	IKsign (double f)

float	IKsign (float f)

double	IKsin (double f)

float	IKsin (float f)

double	IKsqr (double f)

float	IKsqr (float f)

double	IKsqrt (double f)

float	IKsqrt (float f)

double	IKtan (double f)

float	IKtan (float f)

void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

#define __PRETTY_FUNCTION__ __func__

Definition at line 53 of file iiwa7_ikfast_solver.hpp.

◆ IK2PI

#define IK2PI ((IkReal)6.28318530717959)

Definition at line 75 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_ALIGNED16

#define IKFAST_ALIGNED16 ( x ) x __attribute((aligned(16)))

Definition at line 72 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_ASSERT

#define IKFAST_ASSERT ( b )

Value:

  {                                                                                                                    \
    if (!(b))                                                                                                          \
    {                                                                                                                  \
      std::stringstream ss;                                                                                            \
      ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " << __PRETTY_FUNCTION__ << ": Assertion '"      \
         << #b << "' failed";                                                                                          \
      throw std::runtime_error(ss.str());                                                                              \
    }                                                                                                                  \
  }

Definition at line 56 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_ATAN2_MAGTHRESH

#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)

Definition at line 146 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_COMPILE_ASSERT

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

Definition at line 32 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_EVALCOND_THRESH

#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Definition at line 157 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_NO_MAIN

#define IKFAST_NO_MAIN

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 0x1000004a generated on 2019-04-02 01:57:40.892043 Generated using solver transform6d To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

Definition at line 26 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_SINCOS_THRESH

#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)

Definition at line 140 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_SOLUTION_THRESH

#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)

Definition at line 151 of file iiwa7_ikfast_solver.hpp.

◆ IKPI

#define IKPI ((IkReal)3.14159265358979)

Definition at line 76 of file iiwa7_ikfast_solver.hpp.

◆ IKPI_2

#define IKPI_2 ((IkReal)1.57079632679490)

Definition at line 77 of file iiwa7_ikfast_solver.hpp.

Function Documentation

◆ ComputeFk()

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

solves the forward kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 380 of file iiwa7_ikfast_solver.hpp.

◆ ComputeIk()

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

solves the inverse kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

Definition at line 21634 of file iiwa7_ikfast_solver.hpp.

◆ ComputeIk2()

IKFAST_API bool ComputeIk2	(	const IkReal *	eetrans,
		const IkReal *	eerot,
		const IkReal *	pfree,
		IkSolutionListBase< IkReal > &	solutions,
		void *	pOpenRAVEManip
	)

Definition at line 21640 of file iiwa7_ikfast_solver.hpp.

◆ dgeev_()

void dgeev_	(	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
	)

◆ dgesv_()

void dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

◆ dgetrf_()

void dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

◆ dgetri_()

void dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

◆ dgetrs_()

void dgetrs_	(	const char *	trans,
		const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

◆ GetFreeParameters()

IKFAST_API int* GetFreeParameters ( )

Definition at line 475 of file iiwa7_ikfast_solver.hpp.

◆ GetIkFastVersion()

const IKFAST_API char* GetIkFastVersion ( )

Definition at line 21652 of file iiwa7_ikfast_solver.hpp.

◆ GetIkRealSize()

IKFAST_API int GetIkRealSize ( )

Definition at line 482 of file iiwa7_ikfast_solver.hpp.

◆ GetIkType()

IKFAST_API int GetIkType ( )

Definition at line 484 of file iiwa7_ikfast_solver.hpp.

◆ GetKinematicsHash()

const IKFAST_API char* GetKinematicsHash ( )

Definition at line 21650 of file iiwa7_ikfast_solver.hpp.

◆ GetNumFreeParameters()

IKFAST_API int GetNumFreeParameters ( )

Definition at line 474 of file iiwa7_ikfast_solver.hpp.

◆ GetNumJoints()

IKFAST_API int GetNumJoints ( )

Definition at line 480 of file iiwa7_ikfast_solver.hpp.

◆ IKabs() [1/2]

double IKabs ( double f )

inline

Definition at line 130 of file iiwa7_ikfast_solver.hpp.

◆ IKabs() [2/2]

float IKabs ( float f )

inline

Definition at line 129 of file iiwa7_ikfast_solver.hpp.

◆ IKacos() [1/2]

double IKacos ( double f )

inline

Definition at line 211 of file iiwa7_ikfast_solver.hpp.

◆ IKacos() [2/2]

float IKacos ( float f )

inline

Definition at line 201 of file iiwa7_ikfast_solver.hpp.

◆ IKasin() [1/2]

double IKasin ( double f )

inline

Definition at line 170 of file iiwa7_ikfast_solver.hpp.

◆ IKasin() [2/2]

float IKasin ( float f )

inline

Definition at line 160 of file iiwa7_ikfast_solver.hpp.

◆ IKatan2() [1/2]

double IKatan2	(	double	fy,
		double	fx
	)

inline

Definition at line 254 of file iiwa7_ikfast_solver.hpp.

◆ IKatan2() [2/2]

float IKatan2	(	float	fy,
		float	fx
	)

inline

Definition at line 240 of file iiwa7_ikfast_solver.hpp.

◆ IKatan2Simple() [1/2]

double IKatan2Simple	(	double	fy,
		double	fx
	)

inline

Definition at line 253 of file iiwa7_ikfast_solver.hpp.

◆ IKatan2Simple() [2/2]

float IKatan2Simple	(	float	fy,
		float	fx
	)

inline

Definition at line 239 of file iiwa7_ikfast_solver.hpp.

◆ IKatan2WithCheck()

template<typename T >

CheckValue<T> IKatan2WithCheck	(	T	fy,
		T	fx,
		T	epsilon
	)

inline

Definition at line 276 of file iiwa7_ikfast_solver.hpp.

◆ IKcos() [1/2]

double IKcos ( double f )

inline

Definition at line 224 of file iiwa7_ikfast_solver.hpp.

◆ IKcos() [2/2]

float IKcos ( float f )

inline

Definition at line 223 of file iiwa7_ikfast_solver.hpp.

◆ IKFAST_COMPILE_ASSERT()

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =61 )

◆ IKfmod() [1/2]

double IKfmod	(	double	x,
		double	y
	)

inline

Definition at line 192 of file iiwa7_ikfast_solver.hpp.

◆ IKfmod() [2/2]

float IKfmod	(	float	x,
		float	y
	)

inline

Definition at line 182 of file iiwa7_ikfast_solver.hpp.

◆ IKlog() [1/2]

double IKlog ( double f )

inline

Definition at line 136 of file iiwa7_ikfast_solver.hpp.

◆ IKlog() [2/2]

float IKlog ( float f )

inline

Definition at line 135 of file iiwa7_ikfast_solver.hpp.

◆ IKPowWithIntegerCheck()

template<typename T >

CheckValue<T> IKPowWithIntegerCheck	(	T	f,
		int	n
	)

inline

Definition at line 319 of file iiwa7_ikfast_solver.hpp.

◆ IKsign() [1/2]

double IKsign ( double f )

inline

Definition at line 305 of file iiwa7_ikfast_solver.hpp.

◆ IKsign() [2/2]

float IKsign ( float f )

inline

Definition at line 292 of file iiwa7_ikfast_solver.hpp.

◆ IKsin() [1/2]

double IKsin ( double f )

inline

Definition at line 222 of file iiwa7_ikfast_solver.hpp.

◆ IKsin() [2/2]

float IKsin ( float f )

inline

Definition at line 221 of file iiwa7_ikfast_solver.hpp.

◆ IKsqr() [1/2]

double IKsqr ( double f )

inline

Definition at line 133 of file iiwa7_ikfast_solver.hpp.

◆ IKsqr() [2/2]

float IKsqr ( float f )

inline

Definition at line 132 of file iiwa7_ikfast_solver.hpp.

◆ IKsqrt() [1/2]

double IKsqrt ( double f )

inline

Definition at line 233 of file iiwa7_ikfast_solver.hpp.

◆ IKsqrt() [2/2]

float IKsqrt ( float f )

inline

Definition at line 227 of file iiwa7_ikfast_solver.hpp.

◆ IKtan() [1/2]

double IKtan ( double f )

inline

Definition at line 226 of file iiwa7_ikfast_solver.hpp.

◆ IKtan() [2/2]

float IKtan ( float f )

inline

Definition at line 225 of file iiwa7_ikfast_solver.hpp.

◆ zgetrf_()

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

Classes

Macros

Functions

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

◆ IK2PI

◆ IKFAST_ALIGNED16

◆ IKFAST_ASSERT

◆ IKFAST_ATAN2_MAGTHRESH

◆ IKFAST_COMPILE_ASSERT

◆ IKFAST_EVALCOND_THRESH

◆ IKFAST_NO_MAIN

◆ IKFAST_SINCOS_THRESH

◆ IKFAST_SOLUTION_THRESH

◆ IKPI

◆ IKPI_2

Function Documentation

◆ ComputeFk()

◆ ComputeIk()

◆ ComputeIk2()

◆ dgeev_()

◆ dgesv_()

◆ dgetrf_()

◆ dgetri_()

◆ dgetrs_()

◆ GetFreeParameters()

◆ GetIkFastVersion()

◆ GetIkRealSize()

◆ GetIkType()

◆ GetKinematicsHash()

◆ GetNumFreeParameters()

◆ GetNumJoints()

◆ IKabs() [1/2]

◆ IKabs() [2/2]

◆ IKacos() [1/2]

◆ IKacos() [2/2]

◆ IKasin() [1/2]

◆ IKasin() [2/2]

◆ IKatan2() [1/2]

◆ IKatan2() [2/2]

◆ IKatan2Simple() [1/2]

◆ IKatan2Simple() [2/2]

◆ IKatan2WithCheck()

◆ IKcos() [1/2]

◆ IKcos() [2/2]

◆ IKFAST_COMPILE_ASSERT()

◆ IKfmod() [1/2]

◆ IKfmod() [2/2]

◆ IKlog() [1/2]

◆ IKlog() [2/2]

◆ IKPowWithIntegerCheck()

◆ IKsign() [1/2]

◆ IKsign() [2/2]

◆ IKsin() [1/2]

◆ IKsin() [2/2]

◆ IKsqr() [1/2]

◆ IKsqr() [2/2]

◆ IKsqrt() [1/2]

◆ IKsqrt() [2/2]

◆ IKtan() [1/2]

◆ IKtan() [2/2]

◆ zgetrf_()