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 363 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 370 of file prbt_manipulator_ikfast_solver.cpp.

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◆ polyroots2()

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

inlinestatic

Definition at line 19952 of file prbt_manipulator_ikfast_solver.cpp.

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◆ polyroots3()

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

inlinestatic

Definition at line 19874 of file prbt_manipulator_ikfast_solver.cpp.

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◆ polyroots4()

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

inlinestatic

Definition at line 19968 of file prbt_manipulator_ikfast_solver.cpp.

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◆ rotationfunction0()

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

inline

Definition at line 864 of file prbt_manipulator_ikfast_solver.cpp.

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Member Data Documentation

◆ _ij0

unsigned char IKSolver::_ij0[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij1

unsigned char IKSolver::_ij1[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij100

unsigned char IKSolver::_ij100[2]

Definition at line 369 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij2

unsigned char IKSolver::_ij2[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij3

unsigned char IKSolver::_ij3[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij4

unsigned char IKSolver::_ij4[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _ij5

unsigned char IKSolver::_ij5[2]

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj0

unsigned char IKSolver::_nj0

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj1

unsigned char IKSolver::_nj1

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj100

unsigned char IKSolver::_nj100

Definition at line 369 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj2

unsigned char IKSolver::_nj2

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj3

unsigned char IKSolver::_nj3

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj4

unsigned char IKSolver::_nj4

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ _nj5

unsigned char IKSolver::_nj5

Definition at line 366 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj0

IkReal IKSolver::cj0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj1

IkReal IKSolver::cj1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj100

IkReal IKSolver::cj100

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj2

IkReal IKSolver::cj2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj3

IkReal IKSolver::cj3

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj4

IkReal IKSolver::cj4

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ cj5

IkReal IKSolver::cj5

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj0

IkReal IKSolver::htj0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj1

IkReal IKSolver::htj1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj2

IkReal IKSolver::htj2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj3

IkReal IKSolver::htj3

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj4

IkReal IKSolver::htj4

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ htj5

IkReal IKSolver::htj5

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j0

IkReal IKSolver::j0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j0mul

IkReal IKSolver::j0mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j1

IkReal IKSolver::j1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j100

IkReal IKSolver::j100

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ j1mul

IkReal IKSolver::j1mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j2

IkReal IKSolver::j2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j2mul

IkReal IKSolver::j2mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j3

IkReal IKSolver::j3

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j3mul

IkReal IKSolver::j3mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j4

IkReal IKSolver::j4

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j4mul

IkReal IKSolver::j4mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j5

IkReal IKSolver::j5

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ j5mul

IkReal IKSolver::j5mul

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_px

IkReal IKSolver::new_px

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_py

IkReal IKSolver::new_py

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_pz

IkReal IKSolver::new_pz

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r00

IkReal IKSolver::new_r00

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r01

IkReal IKSolver::new_r01

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r02

IkReal IKSolver::new_r02

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r10

IkReal IKSolver::new_r10

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r11

IkReal IKSolver::new_r11

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r12

IkReal IKSolver::new_r12

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r20

IkReal IKSolver::new_r20

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r21

IkReal IKSolver::new_r21

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ new_r22

IkReal IKSolver::new_r22

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ npx

IkReal IKSolver::npx

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ npy

IkReal IKSolver::npy

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ npz

IkReal IKSolver::npz

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ pp

IkReal IKSolver::pp

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ px

IkReal IKSolver::px

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ py

IkReal IKSolver::py

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ pz

IkReal IKSolver::pz

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r00

IkReal IKSolver::r00

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r01

IkReal IKSolver::r01

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r02

IkReal IKSolver::r02

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r10

IkReal IKSolver::r10

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r11

IkReal IKSolver::r11

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r12

IkReal IKSolver::r12

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r20

IkReal IKSolver::r20

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r21

IkReal IKSolver::r21

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ r22

IkReal IKSolver::r22

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_0

IkReal IKSolver::rxp0_0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_1

IkReal IKSolver::rxp0_1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp0_2

IkReal IKSolver::rxp0_2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_0

IkReal IKSolver::rxp1_0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_1

IkReal IKSolver::rxp1_1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp1_2

IkReal IKSolver::rxp1_2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_0

IkReal IKSolver::rxp2_0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_1

IkReal IKSolver::rxp2_1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ rxp2_2

IkReal IKSolver::rxp2_2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj0

IkReal IKSolver::sj0

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj1

IkReal IKSolver::sj1

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj100

IkReal IKSolver::sj100

Definition at line 368 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj2

IkReal IKSolver::sj2

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj3

IkReal IKSolver::sj3

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj4

IkReal IKSolver::sj4

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

◆ sj5

IkReal IKSolver::sj5

Definition at line 365 of file prbt_manipulator_ikfast_solver.cpp.

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

moveit_planners/test_configs/prbt_ikfast_manipulator_plugin/src/prbt_manipulator_ikfast_solver.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Detailed Description

Member Function Documentation

◆ ComputeIk()

◆ polyroots2()

◆ polyroots3()

◆ polyroots4()

◆ rotationfunction0()

Member Data Documentation

◆ _ij0

◆ _ij1

◆ _ij100

◆ _ij2

◆ _ij3

◆ _ij4

◆ _ij5

◆ _nj0

◆ _nj1

◆ _nj100

◆ _nj2

◆ _nj3

◆ _nj4

◆ _nj5

◆ cj0

◆ cj1

◆ cj100

◆ cj2

◆ cj3

◆ cj4

◆ cj5

◆ htj0

◆ htj1

◆ htj2

◆ htj3

◆ htj4

◆ htj5

◆ j0

◆ j0mul

◆ j1

◆ j100

◆ j1mul

◆ j2

◆ j2mul

◆ j3

◆ j3mul

◆ j4

◆ j4mul

◆ j5

◆ j5mul

◆ new_px

◆ new_py

◆ new_pz

◆ new_r00

◆ new_r01

◆ new_r02

◆ new_r10

◆ new_r11

◆ new_r12

◆ new_r20

◆ new_r21

◆ new_r22

◆ npx

◆ npy

◆ npz

◆ pp

◆ px

◆ py

◆ pz

◆ r00

◆ r01

◆ r02

◆ r10

◆ r11

◆ r12

◆ r20

◆ r21

◆ r22

◆ rxp0_0