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.

Here is the call graph for this function:

Here is the caller graph for this function:

◆ 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.

Here is the call graph for this function:

◆ 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.

Here is the call graph for this function:

◆ rotationfunction0()

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

inline

Definition at line 866 of file prbt_manipulator_ikfast_solver.cpp.

Here is the call graph for this function:

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.

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