moveit2
The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
prbt_manipulator::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 364 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Member Function Documentation

◆ ComputeIk()

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

Definition at line 371 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots2()

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

Definition at line 19953 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots3()

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

Definition at line 19875 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ polyroots4()

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

Definition at line 19969 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rotationfunction0()

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

Definition at line 865 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

Here is the call graph for this function:

Member Data Documentation

◆ _ij0

unsigned char prbt_manipulator::IKSolver::_ij0[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij1

unsigned char prbt_manipulator::IKSolver::_ij1[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij100

unsigned char prbt_manipulator::IKSolver::_ij100[2]

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij2

unsigned char prbt_manipulator::IKSolver::_ij2[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij3

unsigned char prbt_manipulator::IKSolver::_ij3[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij4

unsigned char prbt_manipulator::IKSolver::_ij4[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _ij5

unsigned char prbt_manipulator::IKSolver::_ij5[2]

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj0

unsigned char prbt_manipulator::IKSolver::_nj0

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj1

unsigned char prbt_manipulator::IKSolver::_nj1

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj100

unsigned char prbt_manipulator::IKSolver::_nj100

Definition at line 370 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj2

unsigned char prbt_manipulator::IKSolver::_nj2

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj3

unsigned char prbt_manipulator::IKSolver::_nj3

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj4

unsigned char prbt_manipulator::IKSolver::_nj4

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ _nj5

unsigned char prbt_manipulator::IKSolver::_nj5

Definition at line 367 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj0

IkReal prbt_manipulator::IKSolver::cj0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj1

IkReal prbt_manipulator::IKSolver::cj1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj100

IkReal prbt_manipulator::IKSolver::cj100

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj2

IkReal prbt_manipulator::IKSolver::cj2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj3

IkReal prbt_manipulator::IKSolver::cj3

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj4

IkReal prbt_manipulator::IKSolver::cj4

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ cj5

IkReal prbt_manipulator::IKSolver::cj5

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj0

IkReal prbt_manipulator::IKSolver::htj0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj1

IkReal prbt_manipulator::IKSolver::htj1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj2

IkReal prbt_manipulator::IKSolver::htj2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj3

IkReal prbt_manipulator::IKSolver::htj3

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj4

IkReal prbt_manipulator::IKSolver::htj4

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ htj5

IkReal prbt_manipulator::IKSolver::htj5

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j0

IkReal prbt_manipulator::IKSolver::j0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j0mul

IkReal prbt_manipulator::IKSolver::j0mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j1

IkReal prbt_manipulator::IKSolver::j1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j100

IkReal prbt_manipulator::IKSolver::j100

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j1mul

IkReal prbt_manipulator::IKSolver::j1mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j2

IkReal prbt_manipulator::IKSolver::j2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j2mul

IkReal prbt_manipulator::IKSolver::j2mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j3

IkReal prbt_manipulator::IKSolver::j3

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j3mul

IkReal prbt_manipulator::IKSolver::j3mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j4

IkReal prbt_manipulator::IKSolver::j4

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j4mul

IkReal prbt_manipulator::IKSolver::j4mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j5

IkReal prbt_manipulator::IKSolver::j5

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ j5mul

IkReal prbt_manipulator::IKSolver::j5mul

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_px

IkReal prbt_manipulator::IKSolver::new_px

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_py

IkReal prbt_manipulator::IKSolver::new_py

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_pz

IkReal prbt_manipulator::IKSolver::new_pz

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r00

IkReal prbt_manipulator::IKSolver::new_r00

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r01

IkReal prbt_manipulator::IKSolver::new_r01

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r02

IkReal prbt_manipulator::IKSolver::new_r02

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r10

IkReal prbt_manipulator::IKSolver::new_r10

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r11

IkReal prbt_manipulator::IKSolver::new_r11

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r12

IkReal prbt_manipulator::IKSolver::new_r12

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r20

IkReal prbt_manipulator::IKSolver::new_r20

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r21

IkReal prbt_manipulator::IKSolver::new_r21

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ new_r22

IkReal prbt_manipulator::IKSolver::new_r22

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npx

IkReal prbt_manipulator::IKSolver::npx

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npy

IkReal prbt_manipulator::IKSolver::npy

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ npz

IkReal prbt_manipulator::IKSolver::npz

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ pp

IkReal prbt_manipulator::IKSolver::pp

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ px

IkReal prbt_manipulator::IKSolver::px

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ py

IkReal prbt_manipulator::IKSolver::py

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ pz

IkReal prbt_manipulator::IKSolver::pz

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r00

IkReal prbt_manipulator::IKSolver::r00

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r01

IkReal prbt_manipulator::IKSolver::r01

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r02

IkReal prbt_manipulator::IKSolver::r02

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r10

IkReal prbt_manipulator::IKSolver::r10

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r11

IkReal prbt_manipulator::IKSolver::r11

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r12

IkReal prbt_manipulator::IKSolver::r12

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r20

IkReal prbt_manipulator::IKSolver::r20

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r21

IkReal prbt_manipulator::IKSolver::r21

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ r22

IkReal prbt_manipulator::IKSolver::r22

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_0

IkReal prbt_manipulator::IKSolver::rxp0_0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_1

IkReal prbt_manipulator::IKSolver::rxp0_1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp0_2

IkReal prbt_manipulator::IKSolver::rxp0_2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_0

IkReal prbt_manipulator::IKSolver::rxp1_0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_1

IkReal prbt_manipulator::IKSolver::rxp1_1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp1_2

IkReal prbt_manipulator::IKSolver::rxp1_2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_0

IkReal prbt_manipulator::IKSolver::rxp2_0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_1

IkReal prbt_manipulator::IKSolver::rxp2_1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ rxp2_2

IkReal prbt_manipulator::IKSolver::rxp2_2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj0

IkReal prbt_manipulator::IKSolver::sj0

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj1

IkReal prbt_manipulator::IKSolver::sj1

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj100

IkReal prbt_manipulator::IKSolver::sj100

Definition at line 369 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj2

IkReal prbt_manipulator::IKSolver::sj2

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj3

IkReal prbt_manipulator::IKSolver::sj3

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj4

IkReal prbt_manipulator::IKSolver::sj4

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

◆ sj5

IkReal prbt_manipulator::IKSolver::sj5

Definition at line 366 of file prbt_manipulator_ikfast_moveit_plugin.cpp.

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