#include "ikfast.h"
#include <cmath>
#include <vector>
#include <limits>
#include <algorithm>
#include <complex>
#include <stdexcept>
#include <sstream>
#include <iostream>
#include <stdio.h>
#include <stdlib.h>

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Classes
struct	CheckValue< T >

class	IKSolver

Macros
#define	IKFAST_HAS_LIBRARY

#define	__PRETTY_FUNCTION__ __func__

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

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

#define	IK2PI ((IkReal)6.28318530717959)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI_2 ((IkReal)1.57079632679490)

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

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

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

#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Functions
float	IKabs (float f)

double	IKabs (double f)

float	IKsqr (float f)

double	IKsqr (double f)

float	IKlog (float f)

double	IKlog (double f)

float	IKasin (float f)

double	IKasin (double f)

float	IKfmod (float x, float y)

double	IKfmod (double x, double y)

float	IKacos (float f)

double	IKacos (double f)

float	IKsin (float f)

double	IKsin (double f)

float	IKcos (float f)

double	IKcos (double f)

float	IKtan (float f)

double	IKtan (double f)

float	IKsqrt (float f)

double	IKsqrt (double f)

float	IKatan2Simple (float fy, float fx)

float	IKatan2 (float fy, float fx)

double	IKatan2Simple (double fy, double fx)

double	IKatan2 (double fy, double fx)

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

float	IKsign (float f)

double	IKsign (double f)

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

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

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int *	GetFreeParameters ()

IKFAST_API int	GetNumJoints ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetIkType ()

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 )

IKFAST_API const char *	GetKinematicsHash ()

IKFAST_API const char *	GetIkFastVersion ()

int	main (int argc, char **argv)

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

#define __PRETTY_FUNCTION__ __func__

Definition at line 49 of file prbt_manipulator_ikfast_solver.cpp.

◆ IK2PI

#define IK2PI ((IkReal)6.28318530717959)

Definition at line 62 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_ALIGNED16

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

Definition at line 59 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_ASSERT

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

Definition at line 52 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_ATAN2_MAGTHRESH

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

Definition at line 100 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_EVALCOND_THRESH

#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Definition at line 110 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_HAS_LIBRARY

#define IKFAST_HAS_LIBRARY

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 2018-02-13 15:06:40.059924 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 24 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_SINCOS_THRESH

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

Definition at line 95 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKFAST_SOLUTION_THRESH

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

Definition at line 105 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKPI

#define IKPI ((IkReal)3.14159265358979)

Definition at line 63 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKPI_2

#define IKPI_2 ((IkReal)1.57079632679490)

Definition at line 64 of file prbt_manipulator_ikfast_solver.cpp.

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 292 of file prbt_manipulator_ikfast_solver.cpp.

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◆ 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 20053 of file prbt_manipulator_ikfast_solver.cpp.

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◆ ComputeIk2()

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

Definition at line 20058 of file prbt_manipulator_ikfast_solver.cpp.

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◆ GetFreeParameters()

IKFAST_API int * GetFreeParameters ( )

Definition at line 358 of file prbt_manipulator_ikfast_solver.cpp.

◆ GetIkFastVersion()

IKFAST_API const char * GetIkFastVersion ( )

Definition at line 20065 of file prbt_manipulator_ikfast_solver.cpp.

◆ GetIkRealSize()

IKFAST_API int GetIkRealSize ( )

Definition at line 361 of file prbt_manipulator_ikfast_solver.cpp.

◆ GetIkType()

IKFAST_API int GetIkType ( )

Definition at line 363 of file prbt_manipulator_ikfast_solver.cpp.

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◆ GetKinematicsHash()

IKFAST_API const char * GetKinematicsHash ( )

Definition at line 20063 of file prbt_manipulator_ikfast_solver.cpp.

◆ GetNumFreeParameters()

IKFAST_API int GetNumFreeParameters ( )

Definition at line 357 of file prbt_manipulator_ikfast_solver.cpp.

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◆ GetNumJoints()

IKFAST_API int GetNumJoints ( )

Definition at line 359 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKabs() [1/2]

double IKabs ( double f )

inline

Definition at line 85 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKabs() [2/2]

float IKabs ( float f )

inline

Definition at line 84 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKacos() [1/2]

double IKacos ( double f )

inline

Definition at line 154 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKacos() [2/2]

float IKacos ( float f )

inline

Definition at line 147 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKasin() [1/2]

double IKasin ( double f )

inline

Definition at line 121 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKasin() [2/2]

float IKasin ( float f )

inline

Definition at line 114 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKatan2() [1/2]

double IKatan2	(	double	fy,
		double	fx
	)

inline

Definition at line 185 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKatan2() [2/2]

float IKatan2	(	float	fy,
		float	fx
	)

inline

Definition at line 172 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKatan2Simple() [1/2]

double IKatan2Simple	(	double	fy,
		double	fx
	)

inline

Definition at line 182 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKatan2Simple() [2/2]

float IKatan2Simple	(	float	fy,
		float	fx
	)

inline

Definition at line 169 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKatan2WithCheck()

template<typename T >

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

inline

Definition at line 204 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKcos() [1/2]

double IKcos ( double f )

inline

Definition at line 164 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKcos() [2/2]

float IKcos ( float f )

inline

Definition at line 163 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKfmod() [1/2]

double IKfmod	(	double	x,
		double	y
	)

inline

Definition at line 139 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKfmod() [2/2]

float IKfmod	(	float	x,
		float	y
	)

inline

Definition at line 130 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKlog() [1/2]

double IKlog ( double f )

inline

Definition at line 91 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKlog() [2/2]

float IKlog ( float f )

inline

Definition at line 90 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKPowWithIntegerCheck()

template<typename T >

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

inline

Definition at line 239 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKsign() [1/2]

double IKsign ( double f )

inline

Definition at line 228 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKsign() [2/2]

float IKsign ( float f )

inline

Definition at line 218 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKsin() [1/2]

double IKsin ( double f )

inline

Definition at line 162 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKsin() [2/2]

float IKsin ( float f )

inline

Definition at line 161 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKsqr() [1/2]

double IKsqr ( double f )

inline

Definition at line 88 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKsqr() [2/2]

float IKsqr ( float f )

inline

Definition at line 87 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKsqrt() [1/2]

double IKsqrt ( double f )

inline

Definition at line 168 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKsqrt() [2/2]

float IKsqrt ( float f )

inline

Definition at line 167 of file prbt_manipulator_ikfast_solver.cpp.

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◆ IKtan() [1/2]

double IKtan ( double f )

inline

Definition at line 166 of file prbt_manipulator_ikfast_solver.cpp.

◆ IKtan() [2/2]

float IKtan ( float f )

inline

Definition at line 165 of file prbt_manipulator_ikfast_solver.cpp.

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◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 20077 of file prbt_manipulator_ikfast_solver.cpp.

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Classes

Macros

Functions

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

◆ IK2PI

◆ IKFAST_ALIGNED16

◆ IKFAST_ASSERT

◆ IKFAST_ATAN2_MAGTHRESH

◆ IKFAST_EVALCOND_THRESH

◆ IKFAST_HAS_LIBRARY

◆ IKFAST_SINCOS_THRESH

◆ IKFAST_SOLUTION_THRESH

◆ IKPI

◆ IKPI_2

Function Documentation

◆ ComputeFk()

◆ ComputeIk()

◆ ComputeIk2()

◆ 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]

◆ 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]

◆ main()