moveit2
The MoveIt Motion Planning Framework for ROS 2.
Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
IKSolver Class Reference

Public Member Functions

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

Static Public Member Functions

static void polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)
 
static void polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)
 
static void polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
 

Public Attributes

IkReal j0
 
IkReal cj0
 
IkReal sj0
 
IkReal htj0
 
IkReal j0mul
 
IkReal j1
 
IkReal cj1
 
IkReal sj1
 
IkReal htj1
 
IkReal j1mul
 
IkReal j2
 
IkReal cj2
 
IkReal sj2
 
IkReal htj2
 
IkReal j2mul
 
IkReal j3
 
IkReal cj3
 
IkReal sj3
 
IkReal htj3
 
IkReal j3mul
 
IkReal j4
 
IkReal cj4
 
IkReal sj4
 
IkReal htj4
 
IkReal j4mul
 
IkReal j5
 
IkReal cj5
 
IkReal sj5
 
IkReal htj5
 
IkReal j5mul
 
IkReal new_r00
 
IkReal r00
 
IkReal rxp0_0
 
IkReal new_r01
 
IkReal r01
 
IkReal rxp0_1
 
IkReal new_r02
 
IkReal r02
 
IkReal rxp0_2
 
IkReal new_r10
 
IkReal r10
 
IkReal rxp1_0
 
IkReal new_r11
 
IkReal r11
 
IkReal rxp1_1
 
IkReal new_r12
 
IkReal r12
 
IkReal rxp1_2
 
IkReal new_r20
 
IkReal r20
 
IkReal rxp2_0
 
IkReal new_r21
 
IkReal r21
 
IkReal rxp2_1
 
IkReal new_r22
 
IkReal r22
 
IkReal rxp2_2
 
IkReal new_px
 
IkReal px
 
IkReal npx
 
IkReal new_py
 
IkReal py
 
IkReal npy
 
IkReal new_pz
 
IkReal pz
 
IkReal npz
 
IkReal pp
 
unsigned char _ij0 [2]
 
unsigned char _nj0
 
unsigned char _ij1 [2]
 
unsigned char _nj1
 
unsigned char _ij2 [2]
 
unsigned char _nj2
 
unsigned char _ij3 [2]
 
unsigned char _nj3
 
unsigned char _ij4 [2]
 
unsigned char _nj4
 
unsigned char _ij5 [2]
 
unsigned char _nj5
 
IkReal j100
 
IkReal cj100
 
IkReal sj100
 
unsigned char _ij100 [2]
 
unsigned char _nj100
 

Detailed Description

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

Member Function Documentation

◆ ComputeIk()

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

Definition at line 372 of file prbt_manipulator_ikfast_solver.cpp.

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◆ polyroots2()

static void IKSolver::polyroots2 ( IkReal  rawcoeffs[2+1],
IkReal  rawroots[2],
int &  numroots 
)
inlinestatic

Definition at line 19954 of file prbt_manipulator_ikfast_solver.cpp.

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◆ polyroots3()

static void IKSolver::polyroots3 ( IkReal  rawcoeffs[3+1],
IkReal  rawroots[3],
int &  numroots 
)
inlinestatic

Definition at line 19876 of file prbt_manipulator_ikfast_solver.cpp.

◆ polyroots4()

static void IKSolver::polyroots4 ( IkReal  rawcoeffs[4+1],
IkReal  rawroots[4],
int &  numroots 
)
inlinestatic

Definition at line 19970 of file prbt_manipulator_ikfast_solver.cpp.

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◆ rotationfunction0()

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

Definition at line 866 of file prbt_manipulator_ikfast_solver.cpp.

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Member Data Documentation

◆ _ij0

unsigned char IKSolver::_ij0[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij1

unsigned char IKSolver::_ij1[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij100

unsigned char IKSolver::_ij100[2]

Definition at line 371 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij2

unsigned char IKSolver::_ij2[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij3

unsigned char IKSolver::_ij3[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij4

unsigned char IKSolver::_ij4[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij5

unsigned char IKSolver::_ij5[2]

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj0

unsigned char IKSolver::_nj0

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj1

unsigned char IKSolver::_nj1

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj100

unsigned char IKSolver::_nj100

Definition at line 371 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj2

unsigned char IKSolver::_nj2

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj3

unsigned char IKSolver::_nj3

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj4

unsigned char IKSolver::_nj4

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj5

unsigned char IKSolver::_nj5

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj0

IkReal IKSolver::cj0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj1

IkReal IKSolver::cj1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj100

IkReal IKSolver::cj100

Definition at line 370 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj2

IkReal IKSolver::cj2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj3

IkReal IKSolver::cj3

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj4

IkReal IKSolver::cj4

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj5

IkReal IKSolver::cj5

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj0

IkReal IKSolver::htj0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj1

IkReal IKSolver::htj1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj2

IkReal IKSolver::htj2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj3

IkReal IKSolver::htj3

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj4

IkReal IKSolver::htj4

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj5

IkReal IKSolver::htj5

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j0

IkReal IKSolver::j0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j0mul

IkReal IKSolver::j0mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j1

IkReal IKSolver::j1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j100

IkReal IKSolver::j100

Definition at line 370 of file prbt_manipulator_ikfast_solver.cpp.

◆ j1mul

IkReal IKSolver::j1mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j2

IkReal IKSolver::j2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j2mul

IkReal IKSolver::j2mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j3

IkReal IKSolver::j3

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j3mul

IkReal IKSolver::j3mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j4

IkReal IKSolver::j4

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j4mul

IkReal IKSolver::j4mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j5

IkReal IKSolver::j5

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ j5mul

IkReal IKSolver::j5mul

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_px

IkReal IKSolver::new_px

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_py

IkReal IKSolver::new_py

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_pz

IkReal IKSolver::new_pz

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r00

IkReal IKSolver::new_r00

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r01

IkReal IKSolver::new_r01

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r02

IkReal IKSolver::new_r02

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r10

IkReal IKSolver::new_r10

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r11

IkReal IKSolver::new_r11

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r12

IkReal IKSolver::new_r12

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r20

IkReal IKSolver::new_r20

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r21

IkReal IKSolver::new_r21

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r22

IkReal IKSolver::new_r22

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ npx

IkReal IKSolver::npx

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ npy

IkReal IKSolver::npy

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ npz

IkReal IKSolver::npz

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ pp

IkReal IKSolver::pp

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ px

IkReal IKSolver::px

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ py

IkReal IKSolver::py

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ pz

IkReal IKSolver::pz

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r00

IkReal IKSolver::r00

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r01

IkReal IKSolver::r01

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r02

IkReal IKSolver::r02

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r10

IkReal IKSolver::r10

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r11

IkReal IKSolver::r11

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r12

IkReal IKSolver::r12

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r20

IkReal IKSolver::r20

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r21

IkReal IKSolver::r21

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ r22

IkReal IKSolver::r22

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_0

IkReal IKSolver::rxp0_0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_1

IkReal IKSolver::rxp0_1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_2

IkReal IKSolver::rxp0_2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_0

IkReal IKSolver::rxp1_0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_1

IkReal IKSolver::rxp1_1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_2

IkReal IKSolver::rxp1_2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_0

IkReal IKSolver::rxp2_0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_1

IkReal IKSolver::rxp2_1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_2

IkReal IKSolver::rxp2_2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj0

IkReal IKSolver::sj0

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj1

IkReal IKSolver::sj1

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj100

IkReal IKSolver::sj100

Definition at line 370 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj2

IkReal IKSolver::sj2

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj3

IkReal IKSolver::sj3

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj4

IkReal IKSolver::sj4

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj5

IkReal IKSolver::sj5

Definition at line 367 of file prbt_manipulator_ikfast_solver.cpp.

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