prbt_manipulator_ikfast_solver.cpp

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#define IKFAST_HAS_LIBRARY
#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h
using namespace ikfast;
 
// check if the included ikfast version matches what this file was compiled with
static_assert(IKFAST_VERSION==61); // version found in ikfast.h
 
#include <cmath>
#include <vector>
#include <limits>
#include <complex>
 
#ifndef IKFAST_ASSERT
#include <stdexcept>
#include <sstream>
 
#ifdef _MSC_VER
#ifndef __PRETTY_FUNCTION__
#define __PRETTY_FUNCTION__ __FUNCDNAME__
#endif
#endif
 
#ifndef __PRETTY_FUNCTION__
#define __PRETTY_FUNCTION__ __func__
#endif
 
#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()); } }
 
#endif
 
#if defined(_MSC_VER)
#define IKFAST_ALIGNED16(x) __declspec(align(16)) x
#else
#define IKFAST_ALIGNED16(x) x __attribute((aligned(16)))
#endif
 
#define IK2PI  ((IkReal)6.28318530717959)
#define IKPI  ((IkReal)3.14159265358979)
#define IKPI_2  ((IkReal)1.57079632679490)
 
#ifdef _MSC_VER
#ifndef isnan
#define isnan _isnan
#endif
#ifndef isinf
#define isinf _isinf
#endif
//#ifndef isfinite
//#define isfinite _isfinite
//#endif
#endif // _MSC_VER
 
using namespace std; // necessary to get std math routines
 
#ifdef IKFAST_NAMESPACE
namespace IKFAST_NAMESPACE {
#endif
 
inline float IKabs(float f) { return fabsf(f); }
inline double IKabs(double f) { return fabs(f); }
 
inline float IKsqr(float f) { return f*f; }
inline double IKsqr(double f) { return f*f; }
 
inline float IKlog(float f) { return logf(f); }
inline double IKlog(double f) { return log(f); }
 
// allows asin and acos to exceed 1. has to be smaller than thresholds used for branch conds and evaluation
#ifndef IKFAST_SINCOS_THRESH
#define IKFAST_SINCOS_THRESH ((IkReal)1e-7)
#endif
 
// used to check input to atan2 for degenerate cases. has to be smaller than thresholds used for branch conds and evaluation
#ifndef IKFAST_ATAN2_MAGTHRESH
#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7)
#endif
 
// minimum distance of separate solutions
#ifndef IKFAST_SOLUTION_THRESH
#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6)
#endif
 
// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold specifies by how much they can deviate
#ifndef IKFAST_EVALCOND_THRESH
#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)
#endif
 
 
inline float IKasin(float f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return float(-IKPI_2);
else if( f >= 1 ) return float(IKPI_2);
return asinf(f);
}
inline double IKasin(double f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return -IKPI_2;
else if( f >= 1 ) return IKPI_2;
return asin(f);
}
 
// return positive value in [0,y)
inline float IKfmod(float x, float y)
{
    while(x < 0) {
        x += y;
    }
    return fmodf(x,y);
}
 
// return positive value in [0,y)
inline double IKfmod(double x, double y)
{
    while(x < 0) {
        x += y;
    }
    return fmod(x,y);
}
 
inline float IKacos(float f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return float(IKPI);
else if( f >= 1 ) return float(0);
return acosf(f);
}
inline double IKacos(double f)
{
IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver
if( f <= -1 ) return IKPI;
else if( f >= 1 ) return 0;
return acos(f);
}
inline float IKsin(float f) { return sinf(f); }
inline double IKsin(double f) { return sin(f); }
inline float IKcos(float f) { return cosf(f); }
inline double IKcos(double f) { return cos(f); }
inline float IKtan(float f) { return tanf(f); }
inline double IKtan(double f) { return tan(f); }
inline float IKsqrt(float f) { if( f <= 0.0f ) return 0.0f; return sqrtf(f); }
inline double IKsqrt(double f) { if( f <= 0.0 ) return 0.0; return sqrt(f); }
inline float IKatan2Simple(float fy, float fx) {
    return atan2f(fy,fx);
}
inline float IKatan2(float fy, float fx) {
    if( isnan(fy) ) {
        IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned
        return float(IKPI_2);
    }
    else if( isnan(fx) ) {
        return 0;
    }
    return atan2f(fy,fx);
}
inline double IKatan2Simple(double fy, double fx) {
    return atan2(fy,fx);
}
inline double IKatan2(double fy, double fx) {
    if( isnan(fy) ) {
        IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned
        return IKPI_2;
    }
    else if( isnan(fx) ) {
        return 0;
    }
    return atan2(fy,fx);
}
 
template <typename T>
struct CheckValue
{
    T value;
    bool valid;
};
 
template <typename T>
inline CheckValue<T> IKatan2WithCheck(T fy, T fx, T /* unused */)
{
    CheckValue<T> ret;
    ret.valid = false;
    ret.value = 0;
    if( !isnan(fy) && !isnan(fx) ) {
        if( IKabs(fy) >= IKFAST_ATAN2_MAGTHRESH || IKabs(fx) > IKFAST_ATAN2_MAGTHRESH ) {
            ret.value = IKatan2Simple(fy,fx);
            ret.valid = true;
        }
    }
    return ret;
}
 
inline float IKsign(float f) {
    if( f > 0 ) {
        return float(1);
    }
    else if( f < 0 ) {
        return float(-1);
    }
    return 0;
}
 
inline double IKsign(double f) {
    if( f > 0 ) {
        return 1.0;
    }
    else if( f < 0 ) {
        return -1.0;
    }
    return 0;
}
 
template <typename T>
inline CheckValue<T> IKPowWithIntegerCheck(T f, int n)
{
    CheckValue<T> ret;
    ret.valid = true;
    if( n == 0 ) {
        ret.value = 1.0;
        return ret;
    }
    else if( n == 1 )
    {
        ret.value = f;
        return ret;
    }
    else if( n < 0 )
    {
        if( f == 0 )
        {
            ret.valid = false;
            ret.value = (T)1.0e30;
            return ret;
        }
        if( n == -1 ) {
            ret.value = T(1.0)/f;
            return ret;
        }
    }
 
    int num = n > 0 ? n : -n;
    if( num == 2 ) {
        ret.value = f*f;
    }
    else if( num == 3 ) {
        ret.value = f*f*f;
    }
    else {
        ret.value = 1.0;
        while(num>0) {
            if( num & 1 ) {
                ret.value *= f;
            }
            num >>= 1;
            f *= f;
        }
    }
 
    if( n < 0 ) {
        ret.value = T(1.0)/ret.value;
    }
    return ret;
}

IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) {
IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25,x26,x27,x28,x29,x30,x31,x32,x33,x34,x35,x36,x37,x38,x39,x40,x41,x42,x43,x44,x45,x46;
x0=IKcos(j[0]);
x1=IKcos(j[1]);
x2=IKcos(j[2]);
x3=IKsin(j[1]);
x4=IKsin(j[2]);
x5=IKsin(j[3]);
x6=IKcos(j[3]);
x7=IKsin(j[0]);
x8=IKcos(j[5]);
x9=IKsin(j[5]);
x10=IKsin(j[4]);
x11=IKcos(j[4]);
x12=((1.0)*x7);
x13=((1.0)*x6);
x14=((0.307)*x7);
x15=((0.084)*x3);
x16=((0.084)*x7);
x17=((1.0)*x0);
x18=((1.0)*x10);
x19=((0.35)*x3);
x20=((0.084)*x6);
x21=((0.307)*x0);
x22=((0.084)*x0);
x23=(x1*x2);
x24=(x1*x4);
x25=((-1.0)*x6);
x26=(x2*x3);
x27=(x5*x7);
x28=(x3*x4);
x29=(x10*x6);
x30=(x17*x5);
x31=((1.0)*x26);
x32=((((-1.0)*x31))+x24);
x33=((((-1.0)*x24))+x31);
x34=((((1.0)*x23))+(((1.0)*x28)));
x35=(x11*x32);
x36=(x33*x5);
x37=(x17*(((((-1.0)*x24))+x26)));
x38=(x12*(((((-1.0)*x24))+x26)));
x39=(x17*(((((-1.0)*x23))+(((-1.0)*x28)))));
x40=(x12*(((((-1.0)*x23))+(((-1.0)*x28)))));
x41=(x10*x38);
x42=(x39*x5);
x43=(x39*x6);
x44=(((x0*x6))+((x40*x5)));
x45=(x30+((x25*x40)));
x46=(x11*x45);
eerot[0]=(((x9*(((((-1.0)*x12*x6))+x42))))+((x8*((((x10*x37))+((x11*(((((-1.0)*x27))+((x25*x39)))))))))));
eerot[1]=((((-1.0)*x9*((((x18*x37))+(((1.0)*x11*(((((-1.0)*x12*x5))+(((-1.0)*x13*x39))))))))))+((x8*((x42+((x25*x7)))))));
eerot[2]=(((x10*((x43+x27))))+((x11*x37)));
IkReal x47=((1.0)*x24);
eetrans[0]=(((x21*x26))+((x0*x19))+((x11*(((((-1.0)*x22*x47))+((x0*x15*x2))))))+(((-1.0)*x21*x47))+((x10*((((x20*x39))+((x16*x5)))))));
eerot[3]=(((x44*x9))+((x8*((x46+x41)))));
eerot[4]=(((x9*(((((-1.0)*x41))+(((-1.0)*x46))))))+((x44*x8)));
eerot[5]=(((x10*(((((-1.0)*x30))+((x40*x6))))))+((x11*x38)));
IkReal x48=((1.0)*x24);
eetrans[1]=(((x19*x7))+((x14*x26))+((x10*((((x20*x40))+(((-1.0)*x22*x5))))))+((x11*(((((-1.0)*x16*x48))+((x15*x2*x7))))))+(((-1.0)*x14*x48)));
eerot[6]=(((x8*((((x10*x34))+((x35*x6))))))+((x36*x9)));
eerot[7]=(((x9*(((((-1.0)*x18*x34))+(((-1.0)*x13*x35))))))+((x36*x8)));
eerot[8]=(((x29*x33))+((x11*x34)));
eetrans[2]=((0.2604)+(((0.35)*x1))+((x29*(((((-0.084)*x24))+((x15*x2))))))+((x11*(((((0.084)*x23))+((x15*x4))))))+(((0.307)*x23))+(((0.307)*x28)));
}
 
IKFAST_API int GetNumFreeParameters() { return 0; }
IKFAST_API int* GetFreeParameters() { return nullptr; }
IKFAST_API int GetNumJoints() { return 6; }
 
IKFAST_API int GetIkRealSize() { return sizeof(IkReal); }
 
IKFAST_API int GetIkType() { return 0x67000001; }
 
class IKSolver {
public:
IkReal j0,cj0,sj0,htj0,j0mul,j1,cj1,sj1,htj1,j1mul,j2,cj2,sj2,htj2,j2mul,j3,cj3,sj3,htj3,j3mul,j4,cj4,sj4,htj4,j4mul,j5,cj5,sj5,htj5,j5mul,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_r10,r10,rxp1_0,new_r11,r11,rxp1_1,new_r12,r12,rxp1_2,new_r20,r20,rxp2_0,new_r21,r21,rxp2_1,new_r22,r22,rxp2_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp;
unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4,_ij5[2], _nj5;
 
IkReal j100, cj100, sj100;
unsigned char _ij100[2], _nj100;
  bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* /* unused */, IkSolutionListBase<IkReal>& solutions) {
j0=numeric_limits<IkReal>::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits<IkReal>::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits<IkReal>::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits<IkReal>::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits<IkReal>::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; j5=numeric_limits<IkReal>::quiet_NaN(); _ij5[0] = -1; _ij5[1] = -1; _nj5 = -1;
for(int dummyiter = 0; dummyiter < 1; ++dummyiter) {
    solutions.Clear();
r00 = eerot[0*3+0];
r01 = eerot[0*3+1];
r02 = eerot[0*3+2];
r10 = eerot[1*3+0];
r11 = eerot[1*3+1];
r12 = eerot[1*3+2];
r20 = eerot[2*3+0];
r21 = eerot[2*3+1];
r22 = eerot[2*3+2];
px = eetrans[0]; py = eetrans[1]; pz = eetrans[2];
 
new_r00=r00;
new_r01=r01;
new_r02=r02;
new_px=(px+(((-0.084)*r02)));
new_r10=r10;
new_r11=r11;
new_r12=r12;
new_py=(py+(((-0.084)*r12)));
new_r20=r20;
new_r21=r21;
new_r22=r22;
new_pz=((-0.2604)+pz+(((-0.084)*r22)));
r00 = new_r00; r01 = new_r01; r02 = new_r02; r10 = new_r10; r11 = new_r11; r12 = new_r12; r20 = new_r20; r21 = new_r21; r22 = new_r22; px = new_px; py = new_py; pz = new_pz;
IkReal x49=((1.0)*px);
IkReal x50=((1.0)*pz);
IkReal x51=((1.0)*py);
pp=((px*px)+(py*py)+(pz*pz));
npx=(((px*r00))+((py*r10))+((pz*r20)));
npy=(((px*r01))+((py*r11))+((pz*r21)));
npz=(((px*r02))+((py*r12))+((pz*r22)));
rxp0_0=((((-1.0)*r20*x51))+((pz*r10)));
rxp0_1=(((px*r20))+(((-1.0)*r00*x50)));
rxp0_2=((((-1.0)*r10*x49))+((py*r00)));
rxp1_0=((((-1.0)*r21*x51))+((pz*r11)));
rxp1_1=(((px*r21))+(((-1.0)*r01*x50)));
rxp1_2=((((-1.0)*r11*x49))+((py*r01)));
rxp2_0=(((pz*r12))+(((-1.0)*r22*x51)));
rxp2_1=(((px*r22))+(((-1.0)*r02*x50)));
rxp2_2=((((-1.0)*r12*x49))+((py*r02)));
{
IkReal j2array[2], cj2array[2], sj2array[2];
bool j2valid[2]={false};
_nj2 = 2;
cj2array[0]=((-1.00860400186133)+(((4.65332712889716)*pp)));
if( cj2array[0] >= -1-IKFAST_SINCOS_THRESH && cj2array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j2valid[0] = j2valid[1] = true;
    j2array[0] = IKacos(cj2array[0]);
    sj2array[0] = IKsin(j2array[0]);
    cj2array[1] = cj2array[0];
    j2array[1] = -j2array[0];
    sj2array[1] = -sj2array[0];
}
else if( isnan(cj2array[0]) )
{
    // probably any value will work
    j2valid[0] = true;
    cj2array[0] = 1; sj2array[0] = 0; j2array[0] = 0;
}
for(int ij2 = 0; ij2 < 2; ++ij2)
{
if( !j2valid[ij2] )
{
    continue;
}
_ij2[0] = ij2; _ij2[1] = -1;
for(int iij2 = ij2+1; iij2 < 2; ++iij2)
{
if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH )
{
    j2valid[iij2]=false; _ij2[1] = iij2; break;
}
}
j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2];
 
{
IkReal j0eval[1];
j0eval[0]=((IKabs(px))+(IKabs(py)));
if( IKabs(j0eval[0]) < 0.0000010000000000  )
{
{
IkReal j1eval[2];
j1eval[0]=((IKabs(sj2))+(((3.25732899022801)*(IKabs(((0.35)+(((0.307)*cj2))))))));
j1eval[1]=((1.29974853844603)+(sj2*sj2)+(cj2*cj2)+(((2.28013029315961)*cj2)));
if( IKabs(j1eval[0]) < 0.0000010000000000  || IKabs(j1eval[1]) < 0.0000010000000000  )
{
continue; // no branches [j0, j1]
 
} else
{
{
IkReal j1array[2], cj1array[2], sj1array[2];
bool j1valid[2]={false};
_nj1 = 2;
IkReal x52=((0.35)+(((0.307)*cj2)));
CheckValue<IkReal> x55 = IKatan2WithCheck(IkReal(x52),IkReal(((0.307)*sj2)),IKFAST_ATAN2_MAGTHRESH);
if(!x55.valid){
continue;
}
IkReal x53=((1.0)*(x55.value));
if((((((0.094249)*(sj2*sj2)))+(x52*x52))) < -0.00001)
continue;
CheckValue<IkReal> x56=IKPowWithIntegerCheck(IKabs(IKsqrt(((((0.094249)*(sj2*sj2)))+(x52*x52)))),-1);
if(!x56.valid){
continue;
}
if( ((pz*(x56.value))) < -1-IKFAST_SINCOS_THRESH || ((pz*(x56.value))) > 1+IKFAST_SINCOS_THRESH )
    continue;
IkReal x54=IKasin((pz*(x56.value)));
j1array[0]=(x54+(((-1.0)*x53)));
sj1array[0]=IKsin(j1array[0]);
cj1array[0]=IKcos(j1array[0]);
j1array[1]=((3.14159265358979)+(((-1.0)*x53))+(((-1.0)*x54)));
sj1array[1]=IKsin(j1array[1]);
cj1array[1]=IKcos(j1array[1]);
if( j1array[0] > IKPI )
{
    j1array[0]-=IK2PI;
}
else if( j1array[0] < -IKPI )
{    j1array[0]+=IK2PI;
}
j1valid[0] = true;
if( j1array[1] > IKPI )
{
    j1array[1]-=IK2PI;
}
else if( j1array[1] < -IKPI )
{    j1array[1]+=IK2PI;
}
j1valid[1] = true;
for(int ij1 = 0; ij1 < 2; ++ij1)
{
if( !j1valid[ij1] )
{
    continue;
}
_ij1[0] = ij1; _ij1[1] = -1;
for(int iij1 = ij1+1; iij1 < 2; ++iij1)
{
if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH )
{
    j1valid[iij1]=false; _ij1[1] = iij1; break;
}
}
j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
 
// The remainder of this scope is removed as it does not return a solution.
// This is the branch (IKabs(px))+(IKabs(py)), from the kinematics we know,
// that j0 is free. So we simply choose 4 values and pass directly to the
// rotationfunction (orientation computation is unchanged).
_nj0=4;
for(int ij0=1; ij0 < _nj0; ++ij0)
{
j0=(IkReal)(ij0 - 1) * (3.14159265358979) / 2.;  // -pi/2, 0, pi/2, pi
cj0=IKcos(j0);
sj0=IKsin(j0);
_ij0[0] = ij0;
rotationfunction0(solutions);
}
 
}
}
 
}
 
}
 
} else
{
{
IkReal j0array[2], cj0array[2], sj0array[2];
bool j0valid[2]={false};
_nj0 = 2;
CheckValue<IkReal> x1691 = IKatan2WithCheck(IkReal(py),IkReal(((-1.0)*px)),IKFAST_ATAN2_MAGTHRESH);
if(!x1691.valid){
continue;
}
IkReal x1690=x1691.value;
j0array[0]=((-1.0)*x1690);
sj0array[0]=IKsin(j0array[0]);
cj0array[0]=IKcos(j0array[0]);
j0array[1]=((3.14159265358979)+(((-1.0)*x1690)));
sj0array[1]=IKsin(j0array[1]);
cj0array[1]=IKcos(j0array[1]);
if( j0array[0] > IKPI )
{
    j0array[0]-=IK2PI;
}
else if( j0array[0] < -IKPI )
{    j0array[0]+=IK2PI;
}
j0valid[0] = true;
if( j0array[1] > IKPI )
{
    j0array[1]-=IK2PI;
}
else if( j0array[1] < -IKPI )
{    j0array[1]+=IK2PI;
}
j0valid[1] = true;
for(int ij0 = 0; ij0 < 2; ++ij0)
{
if( !j0valid[ij0] )
{
    continue;
}
_ij0[0] = ij0; _ij0[1] = -1;
for(int iij0 = ij0+1; iij0 < 2; ++iij0)
{
if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH )
{
    j0valid[iij0]=false; _ij0[1] = iij0; break;
}
}
j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0];
 
{
IkReal j1eval[3];
IkReal x1692=((307000.0)*cj2);
IkReal x1693=(cj0*px);
IkReal x1694=((307000.0)*sj2);
IkReal x1695=(py*sj0);
j1eval[0]=((-1.00860400186133)+(((-1.0)*cj2)));
j1eval[1]=((IKabs(((((-1.0)*pz*x1692))+(((-350000.0)*pz))+((x1693*x1694))+((x1694*x1695)))))+(IKabs(((((-1.0)*x1692*x1693))+(((-1.0)*x1692*x1695))+(((-1.0)*pz*x1694))+(((-350000.0)*x1693))+(((-350000.0)*x1695))))));
j1eval[2]=IKsign(((-216749.0)+(((-214900.0)*cj2))));
if( IKabs(j1eval[0]) < 0.0000010000000000  || IKabs(j1eval[1]) < 0.0000010000000000  || IKabs(j1eval[2]) < 0.0000010000000000  )
{
{
IkReal j1eval[3];
IkReal x1696=(py*sj0);
IkReal x1697=((1000.0)*pz);
IkReal x1698=(pz*sj2);
IkReal x1699=(cj0*px);
IkReal x1700=(cj2*x1699);
j1eval[0]=((((-1.0)*x1700))+x1698+(((-1.0)*cj2*x1696))+(((-1.1400651465798)*x1696))+(((-1.1400651465798)*x1699)));
j1eval[1]=((IKabs(((((-1.0)*x1696*x1697))+(((-1.0)*x1697*x1699))+(((94.249)*cj2*sj2))+(((107.45)*sj2)))))+(IKabs(((-122.5)+(((-94.249)*(cj2*cj2)))+(((-214.9)*cj2))+((pz*x1697))))));
j1eval[2]=IKsign(((((-307.0)*x1700))+(((-350.0)*x1699))+(((-350.0)*x1696))+(((-307.0)*cj2*x1696))+(((307.0)*x1698))));
if( IKabs(j1eval[0]) < 0.0000010000000000  || IKabs(j1eval[1]) < 0.0000010000000000  || IKabs(j1eval[2]) < 0.0000010000000000  )
{
{
IkReal j1eval[3];
IkReal x1701=(cj0*px);
IkReal x1702=((1.0)*cj2);
IkReal x1703=((7000.0)*pz);
IkReal x1704=(py*sj0);
IkReal x1705=((2149.0)*cj2);
IkReal x1706=(pz*sj2);
IkReal x1707=((3070.0)*pp);
j1eval[0]=((((-1.1400651465798)*x1704))+(((-1.1400651465798)*x1701))+(((-1.0)*x1702*x1704))+x1706+(((-1.0)*x1701*x1702)));
j1eval[1]=((IKabs(((-98.8785)+(((-86.73057)*cj2))+(((-1.0)*cj2*x1707))+(((-3500.0)*pp))+((pz*x1703)))))+(IKabs(((((-1.0)*x1703*x1704))+((sj2*x1707))+(((-1.0)*x1701*x1703))+(((86.73057)*sj2))))));
j1eval[2]=IKsign(((((2149.0)*x1706))+(((-2450.0)*x1704))+(((-2450.0)*x1701))+(((-1.0)*x1704*x1705))+(((-1.0)*x1701*x1705))));
if( IKabs(j1eval[0]) < 0.0000010000000000  || IKabs(j1eval[1]) < 0.0000010000000000  || IKabs(j1eval[2]) < 0.0000010000000000  )
{
continue; // no branches [j1]
 
} else
{
{
IkReal j1array[1], cj1array[1], sj1array[1];
bool j1valid[1]={false};
_nj1 = 1;
IkReal x1708=((7000.0)*pz);
IkReal x1709=(cj0*px);
IkReal x1710=(py*sj0);
IkReal x1711=((2149.0)*cj2);
IkReal x1712=((3070.0)*pp);
CheckValue<IkReal> x1713 = IKatan2WithCheck(IkReal(((-98.8785)+(((-86.73057)*cj2))+(((-3500.0)*pp))+(((-1.0)*cj2*x1712))+((pz*x1708)))),IkReal(((((-1.0)*x1708*x1709))+(((-1.0)*x1708*x1710))+((sj2*x1712))+(((86.73057)*sj2)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1713.valid){
continue;
}
CheckValue<IkReal> x1714=IKPowWithIntegerCheck(IKsign(((((-1.0)*x1710*x1711))+(((-1.0)*x1709*x1711))+(((-2450.0)*x1709))+(((-2450.0)*x1710))+(((2149.0)*pz*sj2)))),-1);
if(!x1714.valid){
continue;
}
j1array[0]=((-1.5707963267949)+(x1713.value)+(((1.5707963267949)*(x1714.value))));
sj1array[0]=IKsin(j1array[0]);
cj1array[0]=IKcos(j1array[0]);
if( j1array[0] > IKPI )
{
    j1array[0]-=IK2PI;
}
else if( j1array[0] < -IKPI )
{    j1array[0]+=IK2PI;
}
j1valid[0] = true;
for(int ij1 = 0; ij1 < 1; ++ij1)
{
if( !j1valid[ij1] )
{
    continue;
}
_ij1[0] = ij1; _ij1[1] = -1;
for(int iij1 = ij1+1; iij1 < 1; ++iij1)
{
if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH )
{
    j1valid[iij1]=false; _ij1[1] = iij1; break;
}
}
j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
{
IkReal evalcond[5];
IkReal x1715=IKcos(j1);
IkReal x1716=IKsin(j1);
IkReal x1717=(cj0*px);
IkReal x1718=(py*sj0);
IkReal x1719=((0.307)*x1715);
IkReal x1720=((1.0)*x1718);
IkReal x1721=(pz*x1715);
IkReal x1722=((0.7)*x1716);
IkReal x1723=((0.307)*x1716);
evalcond[0]=((((-1.0)*pz))+((cj2*x1719))+(((0.35)*x1715))+((sj2*x1723)));
evalcond[1]=((((-1.0)*x1715*x1720))+(((-1.0)*x1715*x1717))+(((-0.307)*sj2))+((pz*x1716)));
evalcond[2]=((((-0.35)*x1716))+x1717+x1718+(((-1.0)*cj2*x1723))+((sj2*x1719)));
evalcond[3]=((-0.028251)+((x1718*x1722))+((x1717*x1722))+(((-1.0)*pp))+(((0.7)*x1721)));
evalcond[4]=((0.35)+(((-1.0)*x1716*x1717))+(((-1.0)*x1721))+(((-1.0)*x1716*x1720))+(((0.307)*cj2)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
rotationfunction0(solutions);
}
}
 
}
 
}
 
} else
{
{
IkReal j1array[1], cj1array[1], sj1array[1];
bool j1valid[1]={false};
_nj1 = 1;
IkReal x1724=((307.0)*cj2);
IkReal x1725=(cj0*px);
IkReal x1726=(py*sj0);
IkReal x1727=((1000.0)*pz);
CheckValue<IkReal> x1728 = IKatan2WithCheck(IkReal(((-122.5)+(((-94.249)*(cj2*cj2)))+((pz*x1727))+(((-214.9)*cj2)))),IkReal(((((-1.0)*x1726*x1727))+(((94.249)*cj2*sj2))+(((107.45)*sj2))+(((-1.0)*x1725*x1727)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1728.valid){
continue;
}
CheckValue<IkReal> x1729=IKPowWithIntegerCheck(IKsign(((((-350.0)*x1726))+(((-350.0)*x1725))+(((307.0)*pz*sj2))+(((-1.0)*x1724*x1725))+(((-1.0)*x1724*x1726)))),-1);
if(!x1729.valid){
continue;
}
j1array[0]=((-1.5707963267949)+(x1728.value)+(((1.5707963267949)*(x1729.value))));
sj1array[0]=IKsin(j1array[0]);
cj1array[0]=IKcos(j1array[0]);
if( j1array[0] > IKPI )
{
    j1array[0]-=IK2PI;
}
else if( j1array[0] < -IKPI )
{    j1array[0]+=IK2PI;
}
j1valid[0] = true;
for(int ij1 = 0; ij1 < 1; ++ij1)
{
if( !j1valid[ij1] )
{
    continue;
}
_ij1[0] = ij1; _ij1[1] = -1;
for(int iij1 = ij1+1; iij1 < 1; ++iij1)
{
if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH )
{
    j1valid[iij1]=false; _ij1[1] = iij1; break;
}
}
j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
{
IkReal evalcond[5];
IkReal x1730=IKcos(j1);
IkReal x1731=IKsin(j1);
IkReal x1732=(cj0*px);
IkReal x1733=(py*sj0);
IkReal x1734=((0.307)*x1730);
IkReal x1735=((1.0)*x1733);
IkReal x1736=(pz*x1730);
IkReal x1737=((0.7)*x1731);
IkReal x1738=((0.307)*x1731);
evalcond[0]=(((cj2*x1734))+(((0.35)*x1730))+(((-1.0)*pz))+((sj2*x1738)));
evalcond[1]=(((pz*x1731))+(((-0.307)*sj2))+(((-1.0)*x1730*x1735))+(((-1.0)*x1730*x1732)));
evalcond[2]=(x1733+x1732+(((-1.0)*cj2*x1738))+(((-0.35)*x1731))+((sj2*x1734)));
evalcond[3]=((-0.028251)+(((-1.0)*pp))+(((0.7)*x1736))+((x1732*x1737))+((x1733*x1737)));
evalcond[4]=((0.35)+(((-1.0)*x1731*x1735))+(((-1.0)*x1731*x1732))+(((-1.0)*x1736))+(((0.307)*cj2)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
rotationfunction0(solutions);
}
}
 
}
 
}
 
} else
{
{
IkReal j1array[1], cj1array[1], sj1array[1];
bool j1valid[1]={false};
_nj1 = 1;
IkReal x1739=((307000.0)*cj2);
IkReal x1740=(cj0*px);
IkReal x1741=((307000.0)*sj2);
IkReal x1742=(py*sj0);
CheckValue<IkReal> x1743=IKPowWithIntegerCheck(IKsign(((-216749.0)+(((-214900.0)*cj2)))),-1);
if(!x1743.valid){
continue;
}
CheckValue<IkReal> x1744 = IKatan2WithCheck(IkReal(((((-350000.0)*x1742))+(((-350000.0)*x1740))+(((-1.0)*x1739*x1740))+(((-1.0)*x1739*x1742))+(((-1.0)*pz*x1741)))),IkReal(((((-1.0)*pz*x1739))+(((-350000.0)*pz))+((x1740*x1741))+((x1741*x1742)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1744.valid){
continue;
}
j1array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1743.value)))+(x1744.value));
sj1array[0]=IKsin(j1array[0]);
cj1array[0]=IKcos(j1array[0]);
if( j1array[0] > IKPI )
{
    j1array[0]-=IK2PI;
}
else if( j1array[0] < -IKPI )
{    j1array[0]+=IK2PI;
}
j1valid[0] = true;
for(int ij1 = 0; ij1 < 1; ++ij1)
{
if( !j1valid[ij1] )
{
    continue;
}
_ij1[0] = ij1; _ij1[1] = -1;
for(int iij1 = ij1+1; iij1 < 1; ++iij1)
{
if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH )
{
    j1valid[iij1]=false; _ij1[1] = iij1; break;
}
}
j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1];
{
IkReal evalcond[5];
IkReal x1745=IKcos(j1);
IkReal x1746=IKsin(j1);
IkReal x1747=(cj0*px);
IkReal x1748=(py*sj0);
IkReal x1749=((0.307)*x1745);
IkReal x1750=((1.0)*x1748);
IkReal x1751=(pz*x1745);
IkReal x1752=((0.7)*x1746);
IkReal x1753=((0.307)*x1746);
evalcond[0]=((((0.35)*x1745))+((cj2*x1749))+(((-1.0)*pz))+((sj2*x1753)));
evalcond[1]=(((pz*x1746))+(((-0.307)*sj2))+(((-1.0)*x1745*x1750))+(((-1.0)*x1745*x1747)));
evalcond[2]=(x1748+x1747+(((-1.0)*cj2*x1753))+((sj2*x1749))+(((-0.35)*x1746)));
evalcond[3]=((-0.028251)+((x1747*x1752))+(((-1.0)*pp))+((x1748*x1752))+(((0.7)*x1751)));
evalcond[4]=((0.35)+(((-1.0)*x1746*x1747))+(((-1.0)*x1746*x1750))+(((-1.0)*x1751))+(((0.307)*cj2)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
rotationfunction0(solutions);
}
}
 
}
 
}
}
}
 
}
 
}
}
}
}
return solutions.GetNumSolutions()>0;
}
inline void rotationfunction0(IkSolutionListBase<IkReal>& solutions) {
for(int rotationiter = 0; rotationiter < 1; ++rotationiter) {
IkReal x70=(r11*sj0);
IkReal x71=(cj0*r02);
IkReal x72=(r10*sj0);
IkReal x73=((1.0)*sj0);
IkReal x74=(cj2*sj1);
IkReal x75=(cj1*sj2);
IkReal x76=(r12*sj0);
IkReal x77=(((sj1*sj2))+((cj1*cj2)));
IkReal x78=(x75+(((-1.0)*x74)));
IkReal x79=(x74+(((-1.0)*x75)));
IkReal x80=(sj0*x79);
IkReal x81=(cj0*x79);
IkReal x82=(cj0*x77);
new_r00=(((r00*x82))+((x72*x77))+((r20*x78)));
new_r01=(((r21*x78))+((r01*x82))+((x70*x77)));
new_r02=(((r22*x78))+((x76*x77))+((x71*x77)));
new_r10=((((-1.0)*r00*x73))+((cj0*r10)));
new_r11=((((-1.0)*r01*x73))+((cj0*r11)));
new_r12=((((-1.0)*r02*x73))+((cj0*r12)));
new_r20=(((r00*x81))+((x72*x79))+((r20*x77)));
new_r21=(((r21*x77))+((r01*x81))+((x70*x79)));
new_r22=(((r22*x77))+((x76*x79))+((x71*x79)));
{
IkReal j4array[2], cj4array[2], sj4array[2];
bool j4valid[2]={false};
_nj4 = 2;
cj4array[0]=new_r22;
if( cj4array[0] >= -1-IKFAST_SINCOS_THRESH && cj4array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j4valid[0] = j4valid[1] = true;
    j4array[0] = IKacos(cj4array[0]);
    sj4array[0] = IKsin(j4array[0]);
    cj4array[1] = cj4array[0];
    j4array[1] = -j4array[0];
    sj4array[1] = -sj4array[0];
}
else if( isnan(cj4array[0]) )
{
    // probably any value will work
    j4valid[0] = true;
    cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0;
}
for(int ij4 = 0; ij4 < 2; ++ij4)
{
if( !j4valid[ij4] )
{
    continue;
}
_ij4[0] = ij4; _ij4[1] = -1;
for(int iij4 = ij4+1; iij4 < 2; ++iij4)
{
if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH )
{
    j4valid[iij4]=false; _ij4[1] = iij4; break;
}
}
j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4];
 
{
IkReal j5eval[3];
j5eval[0]=sj4;
j5eval[1]=IKsign(sj4);
j5eval[2]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  || IKabs(j5eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
j3eval[0]=sj4;
j3eval[1]=IKsign(sj4);
j3eval[2]=((IKabs(new_r12))+(IKabs(new_r02)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
j3eval[0]=new_r12;
j3eval[1]=sj4;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[5];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j4))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
IkReal j5mul = 1;
j5=0;
j3mul=-1.0;
if( IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r00) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r01))+IKsqr(new_r00)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3=IKatan2(((-1.0)*new_r01), new_r00);
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].fmul = j3mul;
vinfos[3].freeind = 0;
vinfos[3].maxsolutions = 0;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].fmul = j5mul;
vinfos[5].freeind = 0;
vinfos[5].maxsolutions = 0;
std::vector<int> vfree(1);
vfree[0] = 5;
solutions.AddSolution(vinfos,vfree);
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j4)))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
IkReal j5mul = 1;
j5=0;
j3mul=1.0;
if( IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r00)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r01))+IKsqr(((-1.0)*new_r00))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3=IKatan2(((-1.0)*new_r01), ((-1.0)*new_r00));
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].fmul = j3mul;
vinfos[3].freeind = 0;
vinfos[3].maxsolutions = 0;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].fmul = j5mul;
vinfos[5].freeind = 0;
vinfos[5].maxsolutions = 0;
std::vector<int> vfree(1);
vfree[0] = 5;
solutions.AddSolution(vinfos,vfree);
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
IkReal x83=new_r22*new_r22;
IkReal x84=((16.0)*new_r10);
IkReal x85=((16.0)*new_r01);
IkReal x86=((16.0)*new_r22);
IkReal x87=((8.0)*new_r11);
IkReal x88=((8.0)*new_r00);
IkReal x89=(x83*x84);
IkReal x90=(x83*x85);
j3eval[0]=((IKabs((x89+(((-1.0)*x84)))))+(IKabs((((new_r22*x88))+(((-1.0)*x83*x87)))))+(IKabs(((((16.0)*new_r00))+((new_r11*x86))+(((-32.0)*new_r00*x83)))))+(IKabs((x85+(((-1.0)*x90)))))+(IKabs((((new_r22*x87))+(((-1.0)*x88)))))+(IKabs(((((16.0)*new_r11*x83))+((new_r00*x86))+(((-32.0)*new_r11)))))+(IKabs((x90+(((-1.0)*x85)))))+(IKabs((x84+(((-1.0)*x89))))));
if( IKabs(j3eval[0]) < 0.0000000100000000  )
{
continue; // no branches [j3, j5]
 
} else
{
IkReal op[4+1], zeror[4];
int numroots;
IkReal j3evalpoly[1];
IkReal x91=new_r22*new_r22;
IkReal x92=((16.0)*new_r10);
IkReal x93=(new_r11*new_r22);
IkReal x94=(x91*x92);
IkReal x95=((((8.0)*x93))+(((-8.0)*new_r00)));
op[0]=x95;
op[1]=(x92+(((-1.0)*x94)));
op[2]=((((16.0)*x93))+(((16.0)*new_r00))+(((-32.0)*new_r00*x91)));
op[3]=(x94+(((-1.0)*x92)));
op[4]=x95;
polyroots4(op,zeror,numroots);
IkReal j3array[4], cj3array[4], sj3array[4], tempj3array[1];
int numsolutions = 0;
for(int ij3 = 0; ij3 < numroots; ++ij3)
{
IkReal htj3 = zeror[ij3];
tempj3array[0]=((2.0)*(atan(htj3)));
for(int kj3 = 0; kj3 < 1; ++kj3)
{
j3array[numsolutions] = tempj3array[kj3];
if( j3array[numsolutions] > IKPI )
{
    j3array[numsolutions]-=IK2PI;
}
else if( j3array[numsolutions] < -IKPI )
{
    j3array[numsolutions]+=IK2PI;
}
sj3array[numsolutions] = IKsin(j3array[numsolutions]);
cj3array[numsolutions] = IKcos(j3array[numsolutions]);
numsolutions++;
}
}
bool j3valid[4]={true,true,true,true};
_nj3 = 4;
for(int ij3 = 0; ij3 < numsolutions; ++ij3)
    {
if( !j3valid[ij3] )
{
    continue;
}
    j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
htj3 = IKtan(j3/2);
 
IkReal x96=((16.0)*new_r01);
IkReal x97=new_r22*new_r22;
IkReal x98=(new_r00*new_r22);
IkReal x99=((8.0)*x98);
IkReal x100=(new_r11*x97);
IkReal x101=(x96*x97);
IkReal x102=((8.0)*x100);
j3evalpoly[0]=((((-1.0)*x102))+(((htj3*htj3*htj3)*(((((-1.0)*x101))+x96))))+(((htj3*htj3*htj3*htj3)*(((((-1.0)*x102))+x99))))+((htj3*((x101+(((-1.0)*x96))))))+(((htj3*htj3)*(((((16.0)*x98))+(((16.0)*x100))+(((-32.0)*new_r11))))))+x99);
if( IKabs(j3evalpoly[0]) > 0.0000001000000000  )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < numsolutions; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
{
IkReal j5eval[3];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
IkReal x103=cj3*cj3;
IkReal x104=(cj3*new_r22);
IkReal x105=((-1.0)+x103+(((-1.0)*x103*(new_r22*new_r22))));
j5eval[0]=x105;
j5eval[1]=((IKabs((((new_r01*sj3))+(((-1.0)*new_r00*x104)))))+(IKabs((((new_r00*sj3))+((new_r01*x104))))));
j5eval[2]=IKsign(x105);
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  || IKabs(j5eval[2]) < 0.0000010000000000  )
{
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
j5eval[0]=new_r22;
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
j5eval[0]=sj3;
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j3))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(new_r10) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r11) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(new_r10)+IKsqr(new_r11)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(new_r10, new_r11);
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[4];
IkReal x106=IKsin(j5);
IkReal x107=IKcos(j5);
evalcond[0]=x107;
evalcond[1]=((-1.0)*x106);
evalcond[2]=(x106+(((-1.0)*new_r10)));
evalcond[3]=(x107+(((-1.0)*new_r11)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j3)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(((-1.0)*new_r10)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r11)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r10))+IKsqr(((-1.0)*new_r11))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r10), ((-1.0)*new_r11));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[4];
IkReal x108=IKcos(j5);
IkReal x109=IKsin(j5);
evalcond[0]=x108;
evalcond[1]=(x109+new_r10);
evalcond[2]=(x108+new_r11);
evalcond[3]=((-1.0)*x109);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
CheckValue<IkReal> x110=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x110.valid){
continue;
}
if((x110.value) < -0.00001)
continue;
IkReal gconst18=((-1.0)*(IKsqrt(x110.value)));
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.0)+(IKsign(sj3)))))+(IKabs((cj3+(((-1.0)*gconst18)))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
if((((1.0)+(((-1.0)*(gconst18*gconst18))))) < -0.00001)
continue;
sj3=IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18)))));
cj3=gconst18;
if( (gconst18) < -1-IKFAST_SINCOS_THRESH || (gconst18) > 1+IKFAST_SINCOS_THRESH )
    continue;
j3=IKacos(gconst18);
CheckValue<IkReal> x111=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x111.valid){
continue;
}
if((x111.value) < -0.00001)
continue;
IkReal gconst18=((-1.0)*(IKsqrt(x111.value)));
j5eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if((((1.0)+(((-1.0)*(gconst18*gconst18))))) < -0.00001)
continue;
CheckValue<IkReal> x112=IKPowWithIntegerCheck(gconst18,-1);
if(!x112.valid){
continue;
}
if( IKabs((((gconst18*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18)))))))))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r11*(x112.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((gconst18*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18))))))))))+IKsqr((new_r11*(x112.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((gconst18*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18))))))))), (new_r11*(x112.value)));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x113=IKcos(j5);
IkReal x114=IKsin(j5);
IkReal x115=((1.0)*gconst18);
if((((1.0)+(((-1.0)*gconst18*x115)))) < -0.00001)
continue;
IkReal x116=IKsqrt(((1.0)+(((-1.0)*gconst18*x115))));
evalcond[0]=x113;
evalcond[1]=((-1.0)*x114);
evalcond[2]=((((-1.0)*x113*x115))+new_r11);
evalcond[3]=((((-1.0)*x114*x115))+new_r10);
evalcond[4]=(((x113*x116))+new_r01);
evalcond[5]=(((x114*x116))+new_r00);
evalcond[6]=((((-1.0)*new_r10*x115))+x114+((new_r00*x116)));
evalcond[7]=((((-1.0)*new_r11*x115))+x113+((new_r01*x116)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x117=IKPowWithIntegerCheck(IKsign(gconst18),-1);
if(!x117.valid){
continue;
}
CheckValue<IkReal> x118 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x118.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(((1.5707963267949)*(x117.value)))+(x118.value));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x119=IKcos(j5);
IkReal x120=IKsin(j5);
IkReal x121=((1.0)*gconst18);
if((((1.0)+(((-1.0)*gconst18*x121)))) < -0.00001)
continue;
IkReal x122=IKsqrt(((1.0)+(((-1.0)*gconst18*x121))));
evalcond[0]=x119;
evalcond[1]=((-1.0)*x120);
evalcond[2]=((((-1.0)*x119*x121))+new_r11);
evalcond[3]=((((-1.0)*x120*x121))+new_r10);
evalcond[4]=(new_r01+((x119*x122)));
evalcond[5]=(((x120*x122))+new_r00);
evalcond[6]=((((-1.0)*new_r10*x121))+((new_r00*x122))+x120);
evalcond[7]=(((new_r01*x122))+x119+(((-1.0)*new_r11*x121)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
CheckValue<IkReal> x123=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x123.valid){
continue;
}
if((x123.value) < -0.00001)
continue;
IkReal gconst18=((-1.0)*(IKsqrt(x123.value)));
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.0)+(IKsign(sj3)))))+(IKabs((cj3+(((-1.0)*gconst18)))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
if((((1.0)+(((-1.0)*(gconst18*gconst18))))) < -0.00001)
continue;
sj3=((-1.0)*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18)))))));
cj3=gconst18;
if( (gconst18) < -1-IKFAST_SINCOS_THRESH || (gconst18) > 1+IKFAST_SINCOS_THRESH )
    continue;
j3=((-1.0)*(IKacos(gconst18)));
CheckValue<IkReal> x124=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x124.valid){
continue;
}
if((x124.value) < -0.00001)
continue;
IkReal gconst18=((-1.0)*(IKsqrt(x124.value)));
j5eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if((((1.0)+(((-1.0)*(gconst18*gconst18))))) < -0.00001)
continue;
CheckValue<IkReal> x125=IKPowWithIntegerCheck(gconst18,-1);
if(!x125.valid){
continue;
}
if( IKabs((((gconst18*new_r10))+((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18)))))))))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r11*(x125.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((gconst18*new_r10))+((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18))))))))))+IKsqr((new_r11*(x125.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((gconst18*new_r10))+((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst18*gconst18))))))))), (new_r11*(x125.value)));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x126=IKcos(j5);
IkReal x127=IKsin(j5);
IkReal x128=((1.0)*gconst18);
if((((1.0)+(((-1.0)*gconst18*x128)))) < -0.00001)
continue;
IkReal x129=IKsqrt(((1.0)+(((-1.0)*gconst18*x128))));
IkReal x130=((1.0)*x129);
evalcond[0]=x126;
evalcond[1]=((-1.0)*x127);
evalcond[2]=((((-1.0)*x126*x128))+new_r11);
evalcond[3]=(new_r10+(((-1.0)*x127*x128)));
evalcond[4]=((((-1.0)*x126*x130))+new_r01);
evalcond[5]=(new_r00+(((-1.0)*x127*x130)));
evalcond[6]=((((-1.0)*new_r10*x128))+(((-1.0)*new_r00*x130))+x127);
evalcond[7]=((((-1.0)*new_r01*x130))+x126+(((-1.0)*new_r11*x128)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x131=IKPowWithIntegerCheck(IKsign(gconst18),-1);
if(!x131.valid){
continue;
}
CheckValue<IkReal> x132 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x132.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(((1.5707963267949)*(x131.value)))+(x132.value));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x133=IKcos(j5);
IkReal x134=IKsin(j5);
IkReal x135=((1.0)*gconst18);
if((((1.0)+(((-1.0)*gconst18*x135)))) < -0.00001)
continue;
IkReal x136=IKsqrt(((1.0)+(((-1.0)*gconst18*x135))));
IkReal x137=((1.0)*x136);
evalcond[0]=x133;
evalcond[1]=((-1.0)*x134);
evalcond[2]=((((-1.0)*x133*x135))+new_r11);
evalcond[3]=((((-1.0)*x134*x135))+new_r10);
evalcond[4]=((((-1.0)*x133*x137))+new_r01);
evalcond[5]=((((-1.0)*x134*x137))+new_r00);
evalcond[6]=((((-1.0)*new_r10*x135))+(((-1.0)*new_r00*x137))+x134);
evalcond[7]=((((-1.0)*new_r11*x135))+(((-1.0)*new_r01*x137))+x133);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
CheckValue<IkReal> x138=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x138.valid){
continue;
}
if((x138.value) < -0.00001)
continue;
IkReal gconst19=IKsqrt(x138.value);
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.0)+(IKsign(sj3)))))+(IKabs((cj3+(((-1.0)*gconst19)))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
if((((1.0)+(((-1.0)*(gconst19*gconst19))))) < -0.00001)
continue;
sj3=IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19)))));
cj3=gconst19;
if( (gconst19) < -1-IKFAST_SINCOS_THRESH || (gconst19) > 1+IKFAST_SINCOS_THRESH )
    continue;
j3=IKacos(gconst19);
CheckValue<IkReal> x139=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x139.valid){
continue;
}
if((x139.value) < -0.00001)
continue;
IkReal gconst19=IKsqrt(x139.value);
j5eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if((((1.0)+(((-1.0)*(gconst19*gconst19))))) < -0.00001)
continue;
CheckValue<IkReal> x140=IKPowWithIntegerCheck(gconst19,-1);
if(!x140.valid){
continue;
}
if( IKabs((((gconst19*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19)))))))))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r11*(x140.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((gconst19*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19))))))))))+IKsqr((new_r11*(x140.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((gconst19*new_r10))+(((-1.0)*new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19))))))))), (new_r11*(x140.value)));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x141=IKcos(j5);
IkReal x142=IKsin(j5);
IkReal x143=((1.0)*gconst19);
if((((1.0)+(((-1.0)*gconst19*x143)))) < -0.00001)
continue;
IkReal x144=IKsqrt(((1.0)+(((-1.0)*gconst19*x143))));
evalcond[0]=x141;
evalcond[1]=((-1.0)*x142);
evalcond[2]=((((-1.0)*x141*x143))+new_r11);
evalcond[3]=((((-1.0)*x142*x143))+new_r10);
evalcond[4]=(((x141*x144))+new_r01);
evalcond[5]=(((x142*x144))+new_r00);
evalcond[6]=(((new_r00*x144))+x142+(((-1.0)*new_r10*x143)));
evalcond[7]=(((new_r01*x144))+(((-1.0)*new_r11*x143))+x141);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x145=IKPowWithIntegerCheck(IKsign(gconst19),-1);
if(!x145.valid){
continue;
}
CheckValue<IkReal> x146 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x146.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(((1.5707963267949)*(x145.value)))+(x146.value));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x147=IKcos(j5);
IkReal x148=IKsin(j5);
IkReal x149=((1.0)*gconst19);
if((((1.0)+(((-1.0)*gconst19*x149)))) < -0.00001)
continue;
IkReal x150=IKsqrt(((1.0)+(((-1.0)*gconst19*x149))));
evalcond[0]=x147;
evalcond[1]=((-1.0)*x148);
evalcond[2]=((((-1.0)*x147*x149))+new_r11);
evalcond[3]=((((-1.0)*x148*x149))+new_r10);
evalcond[4]=(((x147*x150))+new_r01);
evalcond[5]=(((x148*x150))+new_r00);
evalcond[6]=(((new_r00*x150))+x148+(((-1.0)*new_r10*x149)));
evalcond[7]=(((new_r01*x150))+(((-1.0)*new_r11*x149))+x147);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
CheckValue<IkReal> x151=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x151.valid){
continue;
}
if((x151.value) < -0.00001)
continue;
IkReal gconst19=IKsqrt(x151.value);
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.0)+(IKsign(sj3)))))+(IKabs((cj3+(((-1.0)*gconst19)))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
if((((1.0)+(((-1.0)*(gconst19*gconst19))))) < -0.00001)
continue;
sj3=((-1.0)*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19)))))));
cj3=gconst19;
if( (gconst19) < -1-IKFAST_SINCOS_THRESH || (gconst19) > 1+IKFAST_SINCOS_THRESH )
    continue;
j3=((-1.0)*(IKacos(gconst19)));
CheckValue<IkReal> x152=IKPowWithIntegerCheck(((1.0)+(((-1.0)*(new_r22*new_r22)))),-1);
if(!x152.valid){
continue;
}
if((x152.value) < -0.00001)
continue;
IkReal gconst19=IKsqrt(x152.value);
j5eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j5eval[0]) < 0.0000010000000000  )
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if((((1.0)+(((-1.0)*(gconst19*gconst19))))) < -0.00001)
continue;
CheckValue<IkReal> x153=IKPowWithIntegerCheck(gconst19,-1);
if(!x153.valid){
continue;
}
if( IKabs((((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19))))))))+((gconst19*new_r10)))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r11*(x153.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19))))))))+((gconst19*new_r10))))+IKsqr((new_r11*(x153.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((new_r00*(IKsqrt(((1.0)+(((-1.0)*(gconst19*gconst19))))))))+((gconst19*new_r10))), (new_r11*(x153.value)));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x154=IKcos(j5);
IkReal x155=IKsin(j5);
IkReal x156=((1.0)*gconst19);
if((((1.0)+(((-1.0)*gconst19*x156)))) < -0.00001)
continue;
IkReal x157=IKsqrt(((1.0)+(((-1.0)*gconst19*x156))));
IkReal x158=((1.0)*x157);
evalcond[0]=x154;
evalcond[1]=((-1.0)*x155);
evalcond[2]=((((-1.0)*x154*x156))+new_r11);
evalcond[3]=((((-1.0)*x155*x156))+new_r10);
evalcond[4]=((((-1.0)*x154*x158))+new_r01);
evalcond[5]=((((-1.0)*x155*x158))+new_r00);
evalcond[6]=(x155+(((-1.0)*new_r10*x156))+(((-1.0)*new_r00*x158)));
evalcond[7]=(x154+(((-1.0)*new_r11*x156))+(((-1.0)*new_r01*x158)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x159=IKPowWithIntegerCheck(IKsign(gconst19),-1);
if(!x159.valid){
continue;
}
CheckValue<IkReal> x160 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x160.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(((1.5707963267949)*(x159.value)))+(x160.value));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x161=IKcos(j5);
IkReal x162=IKsin(j5);
IkReal x163=((1.0)*gconst19);
if((((1.0)+(((-1.0)*gconst19*x163)))) < -0.00001)
continue;
IkReal x164=IKsqrt(((1.0)+(((-1.0)*gconst19*x163))));
IkReal x165=((1.0)*x164);
evalcond[0]=x161;
evalcond[1]=((-1.0)*x162);
evalcond[2]=((((-1.0)*x161*x163))+new_r11);
evalcond[3]=((((-1.0)*x162*x163))+new_r10);
evalcond[4]=((((-1.0)*x161*x165))+new_r01);
evalcond[5]=((((-1.0)*x162*x165))+new_r00);
evalcond[6]=((((-1.0)*new_r00*x165))+(((-1.0)*new_r10*x163))+x162);
evalcond[7]=((((-1.0)*new_r11*x163))+x161+(((-1.0)*new_r01*x165)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j5]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x166=(new_r00*sj3);
CheckValue<IkReal> x167=IKPowWithIntegerCheck(sj3,-1);
if(!x167.valid){
continue;
}
if( IKabs(((((-1.0)*x166))+((cj3*new_r10)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((x167.value)*((((cj3*new_r22*x166))+(((-1.0)*new_r01))+(((-1.0)*new_r10*new_r22*(cj3*cj3))))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*x166))+((cj3*new_r10))))+IKsqr(((x167.value)*((((cj3*new_r22*x166))+(((-1.0)*new_r01))+(((-1.0)*new_r10*new_r22*(cj3*cj3)))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((((-1.0)*x166))+((cj3*new_r10))), ((x167.value)*((((cj3*new_r22*x166))+(((-1.0)*new_r01))+(((-1.0)*new_r10*new_r22*(cj3*cj3)))))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[10];
IkReal x168=IKsin(j5);
IkReal x169=IKcos(j5);
IkReal x170=((1.0)*new_r11);
IkReal x171=(new_r22*sj3);
IkReal x172=((1.0)*new_r10);
IkReal x173=((1.0)*cj3*new_r22);
IkReal x174=(sj3*x168);
IkReal x175=(new_r22*x168);
IkReal x176=((1.0)*x169);
IkReal x177=((1.0)*x168);
evalcond[0]=(((new_r00*sj3))+x168+(((-1.0)*cj3*x172)));
evalcond[1]=(((new_r01*sj3))+x169+(((-1.0)*cj3*x170)));
evalcond[2]=(((new_r11*sj3))+x175+((cj3*new_r01)));
evalcond[3]=(((sj3*x169))+((cj3*x175))+new_r01);
evalcond[4]=(((new_r10*sj3))+(((-1.0)*new_r22*x176))+((cj3*new_r00)));
evalcond[5]=(x174+new_r00+(((-1.0)*x169*x173)));
evalcond[6]=(((x168*x171))+(((-1.0)*cj3*x176))+new_r11);
evalcond[7]=(x169+(((-1.0)*x171*x172))+(((-1.0)*new_r00*x173)));
evalcond[8]=((((-1.0)*cj3*x177))+(((-1.0)*x171*x176))+new_r10);
evalcond[9]=((((-1.0)*x177))+(((-1.0)*x170*x171))+(((-1.0)*new_r01*x173)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x178=((1.0)*new_r01);
CheckValue<IkReal> x179=IKPowWithIntegerCheck(new_r22,-1);
if(!x179.valid){
continue;
}
if( IKabs(((x179.value)*(((((-1.0)*cj3*x178))+(((-1.0)*new_r11*sj3)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs((((cj3*new_r11))+(((-1.0)*sj3*x178)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((x179.value)*(((((-1.0)*cj3*x178))+(((-1.0)*new_r11*sj3))))))+IKsqr((((cj3*new_r11))+(((-1.0)*sj3*x178))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((x179.value)*(((((-1.0)*cj3*x178))+(((-1.0)*new_r11*sj3))))), (((cj3*new_r11))+(((-1.0)*sj3*x178))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[10];
IkReal x180=IKsin(j5);
IkReal x181=IKcos(j5);
IkReal x182=((1.0)*new_r11);
IkReal x183=(new_r22*sj3);
IkReal x184=((1.0)*new_r10);
IkReal x185=((1.0)*cj3*new_r22);
IkReal x186=(sj3*x180);
IkReal x187=(new_r22*x180);
IkReal x188=((1.0)*x181);
IkReal x189=((1.0)*x180);
evalcond[0]=(((new_r00*sj3))+x180+(((-1.0)*cj3*x184)));
evalcond[1]=(((new_r01*sj3))+x181+(((-1.0)*cj3*x182)));
evalcond[2]=(((new_r11*sj3))+x187+((cj3*new_r01)));
evalcond[3]=(((sj3*x181))+((cj3*x187))+new_r01);
evalcond[4]=(((new_r10*sj3))+(((-1.0)*new_r22*x188))+((cj3*new_r00)));
evalcond[5]=(x186+new_r00+(((-1.0)*x181*x185)));
evalcond[6]=(((x180*x183))+new_r11+(((-1.0)*cj3*x188)));
evalcond[7]=(x181+(((-1.0)*new_r00*x185))+(((-1.0)*x183*x184)));
evalcond[8]=(new_r10+(((-1.0)*x183*x188))+(((-1.0)*cj3*x189)));
evalcond[9]=((((-1.0)*x189))+(((-1.0)*new_r01*x185))+(((-1.0)*x182*x183)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x190=cj3*cj3;
IkReal x191=(cj3*new_r22);
CheckValue<IkReal> x192=IKPowWithIntegerCheck(IKsign(((-1.0)+(((-1.0)*x190*(new_r22*new_r22)))+x190)),-1);
if(!x192.valid){
continue;
}
CheckValue<IkReal> x193 = IKatan2WithCheck(IkReal((((new_r01*x191))+((new_r00*sj3)))),IkReal((((new_r01*sj3))+(((-1.0)*new_r00*x191)))),IKFAST_ATAN2_MAGTHRESH);
if(!x193.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(((1.5707963267949)*(x192.value)))+(x193.value));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[10];
IkReal x194=IKsin(j5);
IkReal x195=IKcos(j5);
IkReal x196=((1.0)*new_r11);
IkReal x197=(new_r22*sj3);
IkReal x198=((1.0)*new_r10);
IkReal x199=((1.0)*cj3*new_r22);
IkReal x200=(sj3*x194);
IkReal x201=(new_r22*x194);
IkReal x202=((1.0)*x195);
IkReal x203=((1.0)*x194);
evalcond[0]=(((new_r00*sj3))+x194+(((-1.0)*cj3*x198)));
evalcond[1]=(((new_r01*sj3))+x195+(((-1.0)*cj3*x196)));
evalcond[2]=(((new_r11*sj3))+x201+((cj3*new_r01)));
evalcond[3]=(((sj3*x195))+((cj3*x201))+new_r01);
evalcond[4]=((((-1.0)*new_r22*x202))+((new_r10*sj3))+((cj3*new_r00)));
evalcond[5]=((((-1.0)*x195*x199))+x200+new_r00);
evalcond[6]=(((x194*x197))+new_r11+(((-1.0)*cj3*x202)));
evalcond[7]=((((-1.0)*x197*x198))+x195+(((-1.0)*new_r00*x199)));
evalcond[8]=((((-1.0)*x197*x202))+new_r10+(((-1.0)*cj3*x203)));
evalcond[9]=((((-1.0)*x196*x197))+(((-1.0)*x203))+(((-1.0)*new_r01*x199)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
    }
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3, j5]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x205=IKPowWithIntegerCheck(sj4,-1);
if(!x205.valid){
continue;
}
IkReal x204=x205.value;
CheckValue<IkReal> x206=IKPowWithIntegerCheck(new_r12,-1);
if(!x206.valid){
continue;
}
if( IKabs((x204*(x206.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r02*x204)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((x204*(x206.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4)))))+IKsqr(((-1.0)*new_r02*x204))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2((x204*(x206.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4)))), ((-1.0)*new_r02*x204));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x207=IKcos(j3);
IkReal x208=IKsin(j3);
IkReal x209=((1.0)*cj4);
IkReal x210=(sj4*x208);
IkReal x211=(new_r12*x208);
IkReal x212=(sj4*x207);
IkReal x213=(new_r02*x207);
evalcond[0]=(x212+new_r02);
evalcond[1]=(x210+new_r12);
evalcond[2]=((((-1.0)*new_r02*x208))+((new_r12*x207)));
evalcond[3]=(sj4+x211+x213);
evalcond[4]=((((-1.0)*new_r20*x209))+((new_r00*x212))+((new_r10*x210)));
evalcond[5]=((((-1.0)*new_r21*x209))+((new_r01*x212))+((new_r11*x210)));
evalcond[6]=((1.0)+(((-1.0)*new_r22*x209))+((new_r02*x212))+((new_r12*x210)));
evalcond[7]=((((-1.0)*new_r22*sj4))+(((-1.0)*x209*x213))+(((-1.0)*x209*x211)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
IkReal j5eval[3];
j5eval[0]=sj4;
j5eval[1]=IKsign(sj4);
j5eval[2]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  || IKabs(j5eval[2]) < 0.0000010000000000  )
{
{
IkReal j5eval[2];
j5eval[0]=sj4;
j5eval[1]=sj3;
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  )
{
{
IkReal j5eval[2];
j5eval[0]=sj4;
j5eval[1]=cj3;
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[5];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j4))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x214=((1.0)*new_r01);
if( IKabs(((((-1.0)*cj3*x214))+(((-1.0)*new_r00*sj3)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*sj3*x214))+((cj3*new_r00)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*cj3*x214))+(((-1.0)*new_r00*sj3))))+IKsqr(((((-1.0)*sj3*x214))+((cj3*new_r00))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((((-1.0)*cj3*x214))+(((-1.0)*new_r00*sj3))), ((((-1.0)*sj3*x214))+((cj3*new_r00))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x215=IKsin(j5);
IkReal x216=IKcos(j5);
IkReal x217=((1.0)*cj3);
IkReal x218=(sj3*x215);
IkReal x219=((1.0)*x216);
IkReal x220=(x216*x217);
evalcond[0]=(((new_r11*sj3))+x215+((cj3*new_r01)));
evalcond[1]=(((new_r00*sj3))+(((-1.0)*new_r10*x217))+x215);
evalcond[2]=((((-1.0)*new_r11*x217))+((new_r01*sj3))+x216);
evalcond[3]=(((sj3*x216))+((cj3*x215))+new_r01);
evalcond[4]=(((new_r10*sj3))+((cj3*new_r00))+(((-1.0)*x219)));
evalcond[5]=(x218+new_r00+(((-1.0)*x220)));
evalcond[6]=(x218+new_r11+(((-1.0)*x220)));
evalcond[7]=((((-1.0)*sj3*x219))+new_r10+(((-1.0)*x215*x217)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j4)))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x221=((1.0)*sj3);
if( IKabs((((cj3*new_r01))+(((-1.0)*new_r00*x221)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*new_r01*x221))+(((-1.0)*cj3*new_r00)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((cj3*new_r01))+(((-1.0)*new_r00*x221))))+IKsqr(((((-1.0)*new_r01*x221))+(((-1.0)*cj3*new_r00))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((cj3*new_r01))+(((-1.0)*new_r00*x221))), ((((-1.0)*new_r01*x221))+(((-1.0)*cj3*new_r00))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x222=IKcos(j5);
IkReal x223=IKsin(j5);
IkReal x224=((1.0)*cj3);
IkReal x225=(sj3*x222);
IkReal x226=((1.0)*x223);
IkReal x227=(x223*x224);
evalcond[0]=(((new_r10*sj3))+x222+((cj3*new_r00)));
evalcond[1]=((((-1.0)*new_r10*x224))+((new_r00*sj3))+x223);
evalcond[2]=((((-1.0)*new_r11*x224))+((new_r01*sj3))+x222);
evalcond[3]=(((new_r11*sj3))+((cj3*new_r01))+(((-1.0)*x226)));
evalcond[4]=(((cj3*x222))+((sj3*x223))+new_r00);
evalcond[5]=(x225+new_r01+(((-1.0)*x227)));
evalcond[6]=(x225+new_r10+(((-1.0)*x227)));
evalcond[7]=((((-1.0)*x222*x224))+(((-1.0)*sj3*x226))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j3)))), 6.28318530717959)));
evalcond[1]=new_r02;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(((-1.0)*new_r00)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r00))+IKsqr(((-1.0)*new_r01))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r00), ((-1.0)*new_r01));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x228=IKsin(j5);
IkReal x229=IKcos(j5);
IkReal x230=((1.0)*cj4);
IkReal x231=((1.0)*sj4);
evalcond[0]=(x228+new_r00);
evalcond[1]=(x229+new_r01);
evalcond[2]=(((sj4*x228))+new_r21);
evalcond[3]=(((cj4*x228))+new_r11);
evalcond[4]=(new_r20+(((-1.0)*x229*x231)));
evalcond[5]=(new_r10+(((-1.0)*x229*x230)));
evalcond[6]=((((-1.0)*new_r20*x231))+x229+(((-1.0)*new_r10*x230)));
evalcond[7]=((((-1.0)*new_r21*x231))+(((-1.0)*new_r11*x230))+(((-1.0)*x228)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j3)))), 6.28318530717959)));
evalcond[1]=new_r02;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(new_r00) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r01) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(new_r00)+IKsqr(new_r01)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(new_r00, new_r01);
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x232=IKsin(j5);
IkReal x233=IKcos(j5);
IkReal x234=((1.0)*sj4);
IkReal x235=((1.0)*x233);
evalcond[0]=(((sj4*x232))+new_r21);
evalcond[1]=(x232+(((-1.0)*new_r00)));
evalcond[2]=(x233+(((-1.0)*new_r01)));
evalcond[3]=((((-1.0)*x233*x234))+new_r20);
evalcond[4]=(((cj4*x232))+(((-1.0)*new_r11)));
evalcond[5]=((((-1.0)*cj4*x235))+(((-1.0)*new_r10)));
evalcond[6]=((((-1.0)*new_r20*x234))+((cj4*new_r10))+x233);
evalcond[7]=((((-1.0)*new_r21*x234))+((cj4*new_r11))+(((-1.0)*x232)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j3))), 6.28318530717959)));
evalcond[1]=new_r12;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(new_r10) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r11) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(new_r10)+IKsqr(new_r11)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(new_r10, new_r11);
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x236=IKcos(j5);
IkReal x237=IKsin(j5);
IkReal x238=((1.0)*cj4);
IkReal x239=((1.0)*sj4);
IkReal x240=((1.0)*x237);
evalcond[0]=(((new_r02*x236))+new_r20);
evalcond[1]=(x237+(((-1.0)*new_r10)));
evalcond[2]=(x236+(((-1.0)*new_r11)));
evalcond[3]=(((cj4*x237))+new_r01);
evalcond[4]=((((-1.0)*new_r02*x240))+new_r21);
evalcond[5]=((((-1.0)*x236*x238))+new_r00);
evalcond[6]=((((-1.0)*new_r20*x239))+x236+(((-1.0)*new_r00*x238)));
evalcond[7]=((((-1.0)*new_r21*x239))+(((-1.0)*x240))+(((-1.0)*new_r01*x238)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j3)))), 6.28318530717959)));
evalcond[1]=new_r12;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(((-1.0)*new_r10)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r11)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r10))+IKsqr(((-1.0)*new_r11))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r10), ((-1.0)*new_r11));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x241=IKsin(j5);
IkReal x242=IKcos(j5);
IkReal x243=((1.0)*sj4);
IkReal x244=((1.0)*x242);
evalcond[0]=(x241+new_r10);
evalcond[1]=(x242+new_r11);
evalcond[2]=(new_r21+((new_r02*x241)));
evalcond[3]=((((-1.0)*new_r02*x244))+new_r20);
evalcond[4]=(((cj4*x241))+(((-1.0)*new_r01)));
evalcond[5]=((((-1.0)*cj4*x244))+(((-1.0)*new_r00)));
evalcond[6]=(((cj4*new_r00))+x242+(((-1.0)*new_r20*x243)));
evalcond[7]=(((cj4*new_r01))+(((-1.0)*x241))+(((-1.0)*new_r21*x243)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
j5eval[0]=1.0;
if( IKabs(j5eval[0]) < 0.0000000100000000  )
{
continue; // no branches [j5]
 
} else
{
IkReal op[2+1], zeror[2];
int numroots;
op[0]=-1.0;
op[1]=0;
op[2]=1.0;
polyroots2(op,zeror,numroots);
IkReal j5array[2], cj5array[2], sj5array[2], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[2]={true,true};
_nj5 = 2;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);
 
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
    }
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j5]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x246=IKPowWithIntegerCheck(sj4,-1);
if(!x246.valid){
continue;
}
IkReal x245=x246.value;
CheckValue<IkReal> x247=IKPowWithIntegerCheck(cj3,-1);
if(!x247.valid){
continue;
}
if( IKabs(((-1.0)*new_r21*x245)) < IKFAST_ATAN2_MAGTHRESH && IKabs((x245*(x247.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r21*x245))+IKsqr((x245*(x247.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r21*x245), (x245*(x247.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3))))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x248=IKsin(j5);
IkReal x249=IKcos(j5);
IkReal x250=(cj3*new_r00);
IkReal x251=(cj3*cj4);
IkReal x252=((1.0)*cj3);
IkReal x253=(new_r11*sj3);
IkReal x254=((1.0)*cj4);
IkReal x255=(new_r10*sj3);
IkReal x256=((1.0)*sj4);
IkReal x257=(sj3*x248);
IkReal x258=((1.0)*x249);
IkReal x259=(sj3*x249);
evalcond[0]=(new_r21+((sj4*x248)));
evalcond[1]=((((-1.0)*x249*x256))+new_r20);
evalcond[2]=((((-1.0)*new_r10*x252))+((new_r00*sj3))+x248);
evalcond[3]=((((-1.0)*new_r11*x252))+((new_r01*sj3))+x249);
evalcond[4]=(((cj4*x248))+x253+((cj3*new_r01)));
evalcond[5]=(((x248*x251))+x259+new_r01);
evalcond[6]=(x255+x250+(((-1.0)*x249*x254)));
evalcond[7]=((((-1.0)*x251*x258))+x257+new_r00);
evalcond[8]=((((-1.0)*x249*x252))+new_r11+((cj4*x257)));
evalcond[9]=((((-1.0)*x254*x259))+(((-1.0)*x248*x252))+new_r10);
evalcond[10]=((((-1.0)*x250*x254))+(((-1.0)*x254*x255))+x249+(((-1.0)*new_r20*x256)));
evalcond[11]=((((-1.0)*new_r21*x256))+(((-1.0)*x248))+(((-1.0)*x253*x254))+(((-1.0)*new_r01*x251)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x261=IKPowWithIntegerCheck(sj4,-1);
if(!x261.valid){
continue;
}
IkReal x260=x261.value;
CheckValue<IkReal> x262=IKPowWithIntegerCheck(sj3,-1);
if(!x262.valid){
continue;
}
if( IKabs(((-1.0)*new_r21*x260)) < IKFAST_ATAN2_MAGTHRESH && IKabs((x260*(x262.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r21*x260))+IKsqr((x260*(x262.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r21*x260), (x260*(x262.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21))))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x263=IKsin(j5);
IkReal x264=IKcos(j5);
IkReal x265=(cj3*new_r00);
IkReal x266=(cj3*cj4);
IkReal x267=((1.0)*cj3);
IkReal x268=(new_r11*sj3);
IkReal x269=((1.0)*cj4);
IkReal x270=(new_r10*sj3);
IkReal x271=((1.0)*sj4);
IkReal x272=(sj3*x263);
IkReal x273=((1.0)*x264);
IkReal x274=(sj3*x264);
evalcond[0]=(new_r21+((sj4*x263)));
evalcond[1]=(new_r20+(((-1.0)*x264*x271)));
evalcond[2]=(((new_r00*sj3))+x263+(((-1.0)*new_r10*x267)));
evalcond[3]=(((new_r01*sj3))+x264+(((-1.0)*new_r11*x267)));
evalcond[4]=(((cj4*x263))+x268+((cj3*new_r01)));
evalcond[5]=(((x263*x266))+x274+new_r01);
evalcond[6]=(x265+x270+(((-1.0)*x264*x269)));
evalcond[7]=(x272+(((-1.0)*x266*x273))+new_r00);
evalcond[8]=(((cj4*x272))+new_r11+(((-1.0)*x264*x267)));
evalcond[9]=((((-1.0)*x263*x267))+(((-1.0)*x269*x274))+new_r10);
evalcond[10]=((((-1.0)*x269*x270))+x264+(((-1.0)*new_r20*x271))+(((-1.0)*x265*x269)));
evalcond[11]=((((-1.0)*x263))+(((-1.0)*new_r01*x266))+(((-1.0)*new_r21*x271))+(((-1.0)*x268*x269)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x275 = IKatan2WithCheck(IkReal(((-1.0)*new_r21)),IkReal(new_r20),IKFAST_ATAN2_MAGTHRESH);
if(!x275.valid){
continue;
}
CheckValue<IkReal> x276=IKPowWithIntegerCheck(IKsign(sj4),-1);
if(!x276.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(x275.value)+(((1.5707963267949)*(x276.value))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x277=IKsin(j5);
IkReal x278=IKcos(j5);
IkReal x279=(cj3*new_r00);
IkReal x280=(cj3*cj4);
IkReal x281=((1.0)*cj3);
IkReal x282=(new_r11*sj3);
IkReal x283=((1.0)*cj4);
IkReal x284=(new_r10*sj3);
IkReal x285=((1.0)*sj4);
IkReal x286=(sj3*x277);
IkReal x287=((1.0)*x278);
IkReal x288=(sj3*x278);
evalcond[0]=(new_r21+((sj4*x277)));
evalcond[1]=(new_r20+(((-1.0)*x278*x285)));
evalcond[2]=(((new_r00*sj3))+x277+(((-1.0)*new_r10*x281)));
evalcond[3]=(((new_r01*sj3))+x278+(((-1.0)*new_r11*x281)));
evalcond[4]=(((cj4*x277))+x282+((cj3*new_r01)));
evalcond[5]=(x288+new_r01+((x277*x280)));
evalcond[6]=(x279+x284+(((-1.0)*x278*x283)));
evalcond[7]=((((-1.0)*x280*x287))+x286+new_r00);
evalcond[8]=(new_r11+((cj4*x286))+(((-1.0)*x278*x281)));
evalcond[9]=((((-1.0)*x277*x281))+new_r10+(((-1.0)*x283*x288)));
evalcond[10]=(x278+(((-1.0)*new_r20*x285))+(((-1.0)*x279*x283))+(((-1.0)*x283*x284)));
evalcond[11]=((((-1.0)*x277))+(((-1.0)*x282*x283))+(((-1.0)*new_r01*x280))+(((-1.0)*new_r21*x285)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x289=IKPowWithIntegerCheck(IKsign(sj4),-1);
if(!x289.valid){
continue;
}
CheckValue<IkReal> x290 = IKatan2WithCheck(IkReal(((-1.0)*new_r12)),IkReal(((-1.0)*new_r02)),IKFAST_ATAN2_MAGTHRESH);
if(!x290.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x289.value)))+(x290.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x291=IKcos(j3);
IkReal x292=IKsin(j3);
IkReal x293=((1.0)*cj4);
IkReal x294=(sj4*x292);
IkReal x295=(new_r12*x292);
IkReal x296=(sj4*x291);
IkReal x297=(new_r02*x291);
evalcond[0]=(x296+new_r02);
evalcond[1]=(x294+new_r12);
evalcond[2]=(((new_r12*x291))+(((-1.0)*new_r02*x292)));
evalcond[3]=(sj4+x295+x297);
evalcond[4]=((((-1.0)*new_r20*x293))+((new_r10*x294))+((new_r00*x296)));
evalcond[5]=((((-1.0)*new_r21*x293))+((new_r11*x294))+((new_r01*x296)));
evalcond[6]=((1.0)+((new_r02*x296))+((new_r12*x294))+(((-1.0)*new_r22*x293)));
evalcond[7]=((((-1.0)*x293*x297))+(((-1.0)*x293*x295))+(((-1.0)*new_r22*sj4)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
IkReal j5eval[3];
j5eval[0]=sj4;
j5eval[1]=IKsign(sj4);
j5eval[2]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  || IKabs(j5eval[2]) < 0.0000010000000000  )
{
{
IkReal j5eval[2];
j5eval[0]=sj4;
j5eval[1]=sj3;
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  )
{
{
IkReal j5eval[2];
j5eval[0]=sj4;
j5eval[1]=cj3;
if( IKabs(j5eval[0]) < 0.0000010000000000  || IKabs(j5eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[5];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j4))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x298=((1.0)*new_r01);
if( IKabs(((((-1.0)*cj3*x298))+(((-1.0)*new_r00*sj3)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*sj3*x298))+((cj3*new_r00)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((((-1.0)*cj3*x298))+(((-1.0)*new_r00*sj3))))+IKsqr(((((-1.0)*sj3*x298))+((cj3*new_r00))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((((-1.0)*cj3*x298))+(((-1.0)*new_r00*sj3))), ((((-1.0)*sj3*x298))+((cj3*new_r00))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x299=IKsin(j5);
IkReal x300=IKcos(j5);
IkReal x301=((1.0)*cj3);
IkReal x302=(sj3*x299);
IkReal x303=((1.0)*x300);
IkReal x304=(x300*x301);
evalcond[0]=(((new_r11*sj3))+x299+((cj3*new_r01)));
evalcond[1]=(((new_r00*sj3))+x299+(((-1.0)*new_r10*x301)));
evalcond[2]=(((new_r01*sj3))+x300+(((-1.0)*new_r11*x301)));
evalcond[3]=(((cj3*x299))+((sj3*x300))+new_r01);
evalcond[4]=(((new_r10*sj3))+((cj3*new_r00))+(((-1.0)*x303)));
evalcond[5]=(x302+new_r00+(((-1.0)*x304)));
evalcond[6]=(x302+new_r11+(((-1.0)*x304)));
evalcond[7]=((((-1.0)*sj3*x303))+(((-1.0)*x299*x301))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j4)))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
IkReal x305=((1.0)*sj3);
if( IKabs((((cj3*new_r01))+(((-1.0)*new_r00*x305)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((((-1.0)*cj3*new_r00))+(((-1.0)*new_r01*x305)))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((((cj3*new_r01))+(((-1.0)*new_r00*x305))))+IKsqr(((((-1.0)*cj3*new_r00))+(((-1.0)*new_r01*x305))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2((((cj3*new_r01))+(((-1.0)*new_r00*x305))), ((((-1.0)*cj3*new_r00))+(((-1.0)*new_r01*x305))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x306=IKcos(j5);
IkReal x307=IKsin(j5);
IkReal x308=((1.0)*cj3);
IkReal x309=(sj3*x306);
IkReal x310=((1.0)*x307);
IkReal x311=(x307*x308);
evalcond[0]=(((new_r10*sj3))+x306+((cj3*new_r00)));
evalcond[1]=(((new_r00*sj3))+x307+(((-1.0)*new_r10*x308)));
evalcond[2]=(((new_r01*sj3))+x306+(((-1.0)*new_r11*x308)));
evalcond[3]=(((new_r11*sj3))+(((-1.0)*x310))+((cj3*new_r01)));
evalcond[4]=(((sj3*x307))+((cj3*x306))+new_r00);
evalcond[5]=(x309+(((-1.0)*x311))+new_r01);
evalcond[6]=(x309+(((-1.0)*x311))+new_r10);
evalcond[7]=((((-1.0)*sj3*x310))+(((-1.0)*x306*x308))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j3)))), 6.28318530717959)));
evalcond[1]=new_r02;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(((-1.0)*new_r00)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r00))+IKsqr(((-1.0)*new_r01))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r00), ((-1.0)*new_r01));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x312=IKsin(j5);
IkReal x313=IKcos(j5);
IkReal x314=((1.0)*cj4);
IkReal x315=((1.0)*sj4);
evalcond[0]=(x312+new_r00);
evalcond[1]=(x313+new_r01);
evalcond[2]=(((sj4*x312))+new_r21);
evalcond[3]=(((cj4*x312))+new_r11);
evalcond[4]=((((-1.0)*x313*x315))+new_r20);
evalcond[5]=((((-1.0)*x313*x314))+new_r10);
evalcond[6]=((((-1.0)*new_r20*x315))+x313+(((-1.0)*new_r10*x314)));
evalcond[7]=((((-1.0)*new_r21*x315))+(((-1.0)*new_r11*x314))+(((-1.0)*x312)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j3)))), 6.28318530717959)));
evalcond[1]=new_r02;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(new_r00) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r01) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(new_r00)+IKsqr(new_r01)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(new_r00, new_r01);
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x316=IKsin(j5);
IkReal x317=IKcos(j5);
IkReal x318=((1.0)*sj4);
IkReal x319=((1.0)*x317);
evalcond[0]=(((sj4*x316))+new_r21);
evalcond[1]=(x316+(((-1.0)*new_r00)));
evalcond[2]=(x317+(((-1.0)*new_r01)));
evalcond[3]=(new_r20+(((-1.0)*x317*x318)));
evalcond[4]=(((cj4*x316))+(((-1.0)*new_r11)));
evalcond[5]=((((-1.0)*cj4*x319))+(((-1.0)*new_r10)));
evalcond[6]=((((-1.0)*new_r20*x318))+((cj4*new_r10))+x317);
evalcond[7]=((((-1.0)*new_r21*x318))+((cj4*new_r11))+(((-1.0)*x316)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j3))), 6.28318530717959)));
evalcond[1]=new_r12;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(new_r10) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r11) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(new_r10)+IKsqr(new_r11)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(new_r10, new_r11);
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x320=IKcos(j5);
IkReal x321=IKsin(j5);
IkReal x322=((1.0)*cj4);
IkReal x323=((1.0)*sj4);
IkReal x324=((1.0)*x321);
evalcond[0]=(new_r20+((new_r02*x320)));
evalcond[1]=(x321+(((-1.0)*new_r10)));
evalcond[2]=(x320+(((-1.0)*new_r11)));
evalcond[3]=(((cj4*x321))+new_r01);
evalcond[4]=((((-1.0)*new_r02*x324))+new_r21);
evalcond[5]=((((-1.0)*x320*x322))+new_r00);
evalcond[6]=(x320+(((-1.0)*new_r00*x322))+(((-1.0)*new_r20*x323)));
evalcond[7]=((((-1.0)*x324))+(((-1.0)*new_r01*x322))+(((-1.0)*new_r21*x323)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j3)))), 6.28318530717959)));
evalcond[1]=new_r12;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
if( IKabs(((-1.0)*new_r10)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r11)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r10))+IKsqr(((-1.0)*new_r11))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r10), ((-1.0)*new_r11));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[8];
IkReal x325=IKsin(j5);
IkReal x326=IKcos(j5);
IkReal x327=((1.0)*sj4);
IkReal x328=((1.0)*x326);
evalcond[0]=(x325+new_r10);
evalcond[1]=(x326+new_r11);
evalcond[2]=(new_r21+((new_r02*x325)));
evalcond[3]=((((-1.0)*new_r02*x328))+new_r20);
evalcond[4]=(((cj4*x325))+(((-1.0)*new_r01)));
evalcond[5]=((((-1.0)*new_r00))+(((-1.0)*cj4*x328)));
evalcond[6]=(((cj4*new_r00))+x326+(((-1.0)*new_r20*x327)));
evalcond[7]=(((cj4*new_r01))+(((-1.0)*x325))+(((-1.0)*new_r21*x327)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r20))+(IKabs(new_r21)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j5eval[1];
new_r21=0;
new_r20=0;
new_r02=0;
new_r12=0;
j5eval[0]=1.0;
if( IKabs(j5eval[0]) < 0.0000000100000000  )
{
continue; // no branches [j5]
 
} else
{
IkReal op[2+1], zeror[2];
int numroots;
op[0]=-1.0;
op[1]=0;
op[2]=1.0;
polyroots2(op,zeror,numroots);
IkReal j5array[2], cj5array[2], sj5array[2], tempj5array[1];
int numsolutions = 0;
for(int ij5 = 0; ij5 < numroots; ++ij5)
{
IkReal htj5 = zeror[ij5];
tempj5array[0]=((2.0)*(atan(htj5)));
for(int kj5 = 0; kj5 < 1; ++kj5)
{
j5array[numsolutions] = tempj5array[kj5];
if( j5array[numsolutions] > IKPI )
{
    j5array[numsolutions]-=IK2PI;
}
else if( j5array[numsolutions] < -IKPI )
{
    j5array[numsolutions]+=IK2PI;
}
sj5array[numsolutions] = IKsin(j5array[numsolutions]);
cj5array[numsolutions] = IKcos(j5array[numsolutions]);
numsolutions++;
}
}
bool j5valid[2]={true,true};
_nj5 = 2;
for(int ij5 = 0; ij5 < numsolutions; ++ij5)
    {
if( !j5valid[ij5] )
{
    continue;
}
    j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
htj5 = IKtan(j5/2);
 
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < numsolutions; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
    }
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j5]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x330=IKPowWithIntegerCheck(sj4,-1);
if(!x330.valid){
continue;
}
IkReal x329=x330.value;
CheckValue<IkReal> x331=IKPowWithIntegerCheck(cj3,-1);
if(!x331.valid){
continue;
}
if( IKabs(((-1.0)*new_r21*x329)) < IKFAST_ATAN2_MAGTHRESH && IKabs((x329*(x331.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r21*x329))+IKsqr((x329*(x331.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r21*x329), (x329*(x331.value)*((((new_r11*sj4))+(((-1.0)*cj4*new_r21*sj3))))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x332=IKsin(j5);
IkReal x333=IKcos(j5);
IkReal x334=(cj3*new_r00);
IkReal x335=(cj3*cj4);
IkReal x336=((1.0)*cj3);
IkReal x337=(new_r11*sj3);
IkReal x338=((1.0)*cj4);
IkReal x339=(new_r10*sj3);
IkReal x340=((1.0)*sj4);
IkReal x341=(sj3*x332);
IkReal x342=((1.0)*x333);
IkReal x343=(sj3*x333);
evalcond[0]=(((sj4*x332))+new_r21);
evalcond[1]=(new_r20+(((-1.0)*x333*x340)));
evalcond[2]=((((-1.0)*new_r10*x336))+((new_r00*sj3))+x332);
evalcond[3]=((((-1.0)*new_r11*x336))+((new_r01*sj3))+x333);
evalcond[4]=(x337+((cj4*x332))+((cj3*new_r01)));
evalcond[5]=(((x332*x335))+x343+new_r01);
evalcond[6]=((((-1.0)*x333*x338))+x339+x334);
evalcond[7]=((((-1.0)*x335*x342))+x341+new_r00);
evalcond[8]=((((-1.0)*x333*x336))+((cj4*x341))+new_r11);
evalcond[9]=((((-1.0)*x332*x336))+new_r10+(((-1.0)*x338*x343)));
evalcond[10]=((((-1.0)*x338*x339))+x333+(((-1.0)*new_r20*x340))+(((-1.0)*x334*x338)));
evalcond[11]=((((-1.0)*x337*x338))+(((-1.0)*new_r01*x335))+(((-1.0)*x332))+(((-1.0)*new_r21*x340)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x345=IKPowWithIntegerCheck(sj4,-1);
if(!x345.valid){
continue;
}
IkReal x344=x345.value;
CheckValue<IkReal> x346=IKPowWithIntegerCheck(sj3,-1);
if(!x346.valid){
continue;
}
if( IKabs(((-1.0)*new_r21*x344)) < IKFAST_ATAN2_MAGTHRESH && IKabs((x344*(x346.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21)))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r21*x344))+IKsqr((x344*(x346.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21))))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j5array[0]=IKatan2(((-1.0)*new_r21*x344), (x344*(x346.value)*(((((-1.0)*new_r01*sj4))+((cj3*cj4*new_r21))))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x347=IKsin(j5);
IkReal x348=IKcos(j5);
IkReal x349=(cj3*new_r00);
IkReal x350=(cj3*cj4);
IkReal x351=((1.0)*cj3);
IkReal x352=(new_r11*sj3);
IkReal x353=((1.0)*cj4);
IkReal x354=(new_r10*sj3);
IkReal x355=((1.0)*sj4);
IkReal x356=(sj3*x347);
IkReal x357=((1.0)*x348);
IkReal x358=(sj3*x348);
evalcond[0]=(((sj4*x347))+new_r21);
evalcond[1]=((((-1.0)*x348*x355))+new_r20);
evalcond[2]=(((new_r00*sj3))+x347+(((-1.0)*new_r10*x351)));
evalcond[3]=(((new_r01*sj3))+x348+(((-1.0)*new_r11*x351)));
evalcond[4]=(x352+((cj4*x347))+((cj3*new_r01)));
evalcond[5]=(x358+((x347*x350))+new_r01);
evalcond[6]=((((-1.0)*x348*x353))+x354+x349);
evalcond[7]=(x356+new_r00+(((-1.0)*x350*x357)));
evalcond[8]=((((-1.0)*x348*x351))+((cj4*x356))+new_r11);
evalcond[9]=((((-1.0)*x347*x351))+(((-1.0)*x353*x358))+new_r10);
evalcond[10]=((((-1.0)*x349*x353))+x348+(((-1.0)*x353*x354))+(((-1.0)*new_r20*x355)));
evalcond[11]=((((-1.0)*new_r01*x350))+(((-1.0)*new_r21*x355))+(((-1.0)*x352*x353))+(((-1.0)*x347)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x359 = IKatan2WithCheck(IkReal(((-1.0)*new_r21)),IkReal(new_r20),IKFAST_ATAN2_MAGTHRESH);
if(!x359.valid){
continue;
}
CheckValue<IkReal> x360=IKPowWithIntegerCheck(IKsign(sj4),-1);
if(!x360.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(x359.value)+(((1.5707963267949)*(x360.value))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[12];
IkReal x361=IKsin(j5);
IkReal x362=IKcos(j5);
IkReal x363=(cj3*new_r00);
IkReal x364=(cj3*cj4);
IkReal x365=((1.0)*cj3);
IkReal x366=(new_r11*sj3);
IkReal x367=((1.0)*cj4);
IkReal x368=(new_r10*sj3);
IkReal x369=((1.0)*sj4);
IkReal x370=(sj3*x361);
IkReal x371=((1.0)*x362);
IkReal x372=(sj3*x362);
evalcond[0]=(((sj4*x361))+new_r21);
evalcond[1]=((((-1.0)*x362*x369))+new_r20);
evalcond[2]=(((new_r00*sj3))+x361+(((-1.0)*new_r10*x365)));
evalcond[3]=(((new_r01*sj3))+x362+(((-1.0)*new_r11*x365)));
evalcond[4]=(((cj4*x361))+x366+((cj3*new_r01)));
evalcond[5]=(((x361*x364))+x372+new_r01);
evalcond[6]=((((-1.0)*x362*x367))+x368+x363);
evalcond[7]=(x370+new_r00+(((-1.0)*x364*x371)));
evalcond[8]=((((-1.0)*x362*x365))+((cj4*x370))+new_r11);
evalcond[9]=((((-1.0)*x361*x365))+(((-1.0)*x367*x372))+new_r10);
evalcond[10]=((((-1.0)*x363*x367))+(((-1.0)*new_r20*x369))+(((-1.0)*x367*x368))+x362);
evalcond[11]=((((-1.0)*x361))+(((-1.0)*x366*x367))+(((-1.0)*new_r01*x364))+(((-1.0)*new_r21*x369)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
}
}
 
}
 
}
 
} else
{
{
IkReal j5array[1], cj5array[1], sj5array[1];
bool j5valid[1]={false};
_nj5 = 1;
CheckValue<IkReal> x373 = IKatan2WithCheck(IkReal(((-1.0)*new_r21)),IkReal(new_r20),IKFAST_ATAN2_MAGTHRESH);
if(!x373.valid){
continue;
}
CheckValue<IkReal> x374=IKPowWithIntegerCheck(IKsign(sj4),-1);
if(!x374.valid){
continue;
}
j5array[0]=((-1.5707963267949)+(x373.value)+(((1.5707963267949)*(x374.value))));
sj5array[0]=IKsin(j5array[0]);
cj5array[0]=IKcos(j5array[0]);
if( j5array[0] > IKPI )
{
    j5array[0]-=IK2PI;
}
else if( j5array[0] < -IKPI )
{    j5array[0]+=IK2PI;
}
j5valid[0] = true;
for(int ij5 = 0; ij5 < 1; ++ij5)
{
if( !j5valid[ij5] )
{
    continue;
}
_ij5[0] = ij5; _ij5[1] = -1;
for(int iij5 = ij5+1; iij5 < 1; ++iij5)
{
if( j5valid[iij5] && IKabs(cj5array[ij5]-cj5array[iij5]) < IKFAST_SOLUTION_THRESH && IKabs(sj5array[ij5]-sj5array[iij5]) < IKFAST_SOLUTION_THRESH )
{
    j5valid[iij5]=false; _ij5[1] = iij5; break;
}
}
j5 = j5array[ij5]; cj5 = cj5array[ij5]; sj5 = sj5array[ij5];
{
IkReal evalcond[2];
evalcond[0]=(((sj4*(IKsin(j5))))+new_r21);
evalcond[1]=((((-1.0)*sj4*(IKcos(j5))))+new_r20);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
IkReal j3eval[3];
j3eval[0]=sj4;
j3eval[1]=IKsign(sj4);
j3eval[2]=((IKabs(new_r12))+(IKabs(new_r02)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
j3eval[0]=new_r12;
j3eval[1]=sj4;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[5];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j4))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
IkReal x375=((1.0)*new_r11);
IkReal x376=((((-1.0)*new_r10*x375))+(((-1.0)*new_r00*new_r01)));
j3eval[0]=x376;
j3eval[1]=((IKabs((((new_r10*sj5))+((new_r01*sj5)))))+(IKabs(((((-1.0)*sj5*x375))+((new_r00*sj5))))));
j3eval[2]=IKsign(x376);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
IkReal x377=((((-1.0)*(new_r01*new_r01)))+(((-1.0)*(new_r11*new_r11))));
j3eval[0]=x377;
j3eval[1]=((IKabs((((new_r11*sj5))+((cj5*new_r01)))))+(IKabs((((new_r01*sj5))+(((-1.0)*cj5*new_r11))))));
j3eval[2]=IKsign(x377);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
IkReal x378=((1.0)*new_r11);
IkReal x379=((((-1.0)*cj5*x378))+(((-1.0)*new_r01*sj5)));
j3eval[0]=x379;
j3eval[1]=IKsign(x379);
j3eval[2]=((IKabs((((new_r00*new_r01))+((cj5*sj5)))))+(IKabs(((1.0)+(((-1.0)*new_r00*x378))+(((-1.0)*(cj5*cj5)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
IkReal x380=((-1.0)*new_r01);
IkReal x382 = ((new_r01*new_r01)+(new_r11*new_r11));
if(IKabs(x382)==0){
continue;
}
IkReal x381=pow(x382,-0.5);
CheckValue<IkReal> x383 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x380),IKFAST_ATAN2_MAGTHRESH);
if(!x383.valid){
continue;
}
IkReal gconst0=((-1.0)*(x383.value));
IkReal gconst1=(new_r11*x381);
IkReal gconst2=(x380*x381);
CheckValue<IkReal> x384 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x384.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((x384.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x385=((-1.0)*new_r01);
CheckValue<IkReal> x388 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x385),IKFAST_ATAN2_MAGTHRESH);
if(!x388.valid){
continue;
}
IkReal x386=((-1.0)*(x388.value));
IkReal x387=x381;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x386;
IkReal gconst0=x386;
IkReal gconst1=(new_r11*x387);
IkReal gconst2=(x385*x387);
IkReal x389=new_r11*new_r11;
IkReal x390=(new_r10*new_r11);
IkReal x391=((((-1.0)*x390))+(((-1.0)*new_r00*new_r01)));
IkReal x392=x381;
IkReal x393=(new_r11*x392);
j3eval[0]=x391;
j3eval[1]=((IKabs(((((-1.0)*x389*x392))+((new_r00*x393)))))+(IKabs((((new_r01*x393))+((x390*x392))))));
j3eval[2]=IKsign(x391);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x394=((-1.0)*new_r01);
CheckValue<IkReal> x397 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x394),IKFAST_ATAN2_MAGTHRESH);
if(!x397.valid){
continue;
}
IkReal x395=((-1.0)*(x397.value));
IkReal x396=x381;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x395;
IkReal gconst0=x395;
IkReal gconst1=(new_r11*x396);
IkReal gconst2=(x394*x396);
IkReal x398=new_r11*new_r11;
CheckValue<IkReal> x401=IKPowWithIntegerCheck(((new_r01*new_r01)+x398),-1);
if(!x401.valid){
continue;
}
IkReal x399=x401.value;
IkReal x400=(x398*x399);
j3eval[0]=((IKabs((((new_r01*new_r10))+x400)))+(IKabs((((new_r00*new_r01*x400))+((new_r00*x399*(new_r01*new_r01*new_r01)))+((new_r01*new_r11*x399))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x402=((-1.0)*new_r01);
CheckValue<IkReal> x405 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x402),IKFAST_ATAN2_MAGTHRESH);
if(!x405.valid){
continue;
}
IkReal x403=((-1.0)*(x405.value));
IkReal x404=x381;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x403;
IkReal gconst0=x403;
IkReal gconst1=(new_r11*x404);
IkReal gconst2=(x402*x404);
IkReal x406=new_r01*new_r01;
IkReal x407=new_r11*new_r11;
CheckValue<IkReal> x414=IKPowWithIntegerCheck((x407+x406),-1);
if(!x414.valid){
continue;
}
IkReal x408=x414.value;
IkReal x409=(x407*x408);
CheckValue<IkReal> x415=IKPowWithIntegerCheck(((((-1.0)*x406))+(((-1.0)*x407))),-1);
if(!x415.valid){
continue;
}
IkReal x410=x415.value;
IkReal x411=((1.0)*x410);
IkReal x412=(new_r11*x411);
IkReal x413=(new_r01*x411);
j3eval[0]=((IKabs((((x406*x409))+((x408*(x406*x406)))+(((-1.0)*x409)))))+(IKabs(((((-1.0)*new_r01*x412*(new_r11*new_r11)))+(((-1.0)*x412*(new_r01*new_r01*new_r01)))+(((-1.0)*new_r01*x412))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[3];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x416=IKPowWithIntegerCheck(gconst2,-1);
if(!x416.valid){
continue;
}
sj3array[0]=(new_r10*(x416.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x417=IKcos(j3);
IkReal x418=IKsin(j3);
IkReal x419=((-1.0)*x417);
evalcond[0]=(new_r01*x417);
evalcond[1]=(new_r10*x419);
evalcond[2]=(gconst2*x419);
evalcond[3]=(gconst2+((new_r01*x418)));
evalcond[4]=(((gconst2*x418))+new_r01);
evalcond[5]=((((-1.0)*gconst2))+((new_r10*x418)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r00)));
evalcond[1]=gconst1;
evalcond[2]=gconst2;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x420=((-1.0)*new_r01);
CheckValue<IkReal> x422 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x420),IKFAST_ATAN2_MAGTHRESH);
if(!x422.valid){
continue;
}
IkReal x421=((-1.0)*(x422.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x421;
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst0=x421;
IkReal gconst1=new_r11;
IkReal gconst2=x420;
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs((new_r01*new_r11)))+(IKabs(((1.0)+(((-1.0)*(new_r01*new_r01)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x423=((-1.0)*new_r01);
CheckValue<IkReal> x425 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x423),IKFAST_ATAN2_MAGTHRESH);
if(!x425.valid){
continue;
}
IkReal x424=((-1.0)*(x425.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x424;
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst0=x424;
IkReal gconst1=new_r11;
IkReal gconst2=x423;
j3eval[0]=-1.0;
j3eval[1]=((IKabs(new_r01*new_r01))+(IKabs((new_r01*new_r11))));
j3eval[2]=-1.0;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x426=((-1.0)*new_r01);
CheckValue<IkReal> x428 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(x426),IKFAST_ATAN2_MAGTHRESH);
if(!x428.valid){
continue;
}
IkReal x427=((-1.0)*(x428.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x427;
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst0=x427;
IkReal gconst1=new_r11;
IkReal gconst2=x426;
j3eval[0]=1.0;
j3eval[1]=1.0;
j3eval[2]=((((0.5)*(IKabs(((-1.0)+(((2.0)*(new_r01*new_r01))))))))+(IKabs((new_r01*new_r11))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x429=((1.0)*new_r01);
CheckValue<IkReal> x430 = IKatan2WithCheck(IkReal(((new_r01*new_r01)+(((-1.0)*(gconst1*gconst1))))),IkReal(((((-1.0)*new_r11*x429))+((gconst1*gconst2)))),IKFAST_ATAN2_MAGTHRESH);
if(!x430.valid){
continue;
}
CheckValue<IkReal> x431=IKPowWithIntegerCheck(IKsign((((gconst1*new_r11))+(((-1.0)*gconst2*x429)))),-1);
if(!x431.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x430.value)+(((1.5707963267949)*(x431.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x432=IKcos(j3);
IkReal x433=IKsin(j3);
IkReal x434=(gconst1*x433);
IkReal x435=(gconst2*x433);
IkReal x436=((1.0)*x432);
IkReal x437=(gconst2*x436);
evalcond[0]=(((new_r01*x432))+gconst1+((new_r11*x433)));
evalcond[1]=(((gconst1*x432))+x435+new_r01);
evalcond[2]=((((-1.0)*x437))+x434);
evalcond[3]=(((new_r01*x433))+gconst2+(((-1.0)*new_r11*x436)));
evalcond[4]=((((-1.0)*x437))+x434+new_r11);
evalcond[5]=((((-1.0)*x435))+(((-1.0)*gconst1*x436)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x438=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst2*gconst2)))+(((-1.0)*(gconst1*gconst1))))),-1);
if(!x438.valid){
continue;
}
CheckValue<IkReal> x439 = IKatan2WithCheck(IkReal((gconst2*new_r01)),IkReal((gconst1*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x439.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x438.value)))+(x439.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x440=IKcos(j3);
IkReal x441=IKsin(j3);
IkReal x442=(gconst1*x441);
IkReal x443=(gconst2*x441);
IkReal x444=((1.0)*x440);
IkReal x445=(gconst2*x444);
evalcond[0]=(((new_r01*x440))+gconst1+((new_r11*x441)));
evalcond[1]=(((gconst1*x440))+x443+new_r01);
evalcond[2]=((((-1.0)*x445))+x442);
evalcond[3]=(((new_r01*x441))+gconst2+(((-1.0)*new_r11*x444)));
evalcond[4]=((((-1.0)*x445))+x442+new_r11);
evalcond[5]=((((-1.0)*x443))+(((-1.0)*gconst1*x444)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x446 = IKatan2WithCheck(IkReal(gconst1*gconst1),IkReal(((-1.0)*gconst1*gconst2)),IKFAST_ATAN2_MAGTHRESH);
if(!x446.valid){
continue;
}
CheckValue<IkReal> x447=IKPowWithIntegerCheck(IKsign((((gconst2*new_r01))+(((-1.0)*gconst1*new_r11)))),-1);
if(!x447.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x446.value)+(((1.5707963267949)*(x447.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x448=IKcos(j3);
IkReal x449=IKsin(j3);
IkReal x450=(gconst1*x449);
IkReal x451=(gconst2*x449);
IkReal x452=((1.0)*x448);
IkReal x453=(gconst2*x452);
evalcond[0]=(((new_r01*x448))+gconst1+((new_r11*x449)));
evalcond[1]=(((gconst1*x448))+x451+new_r01);
evalcond[2]=((((-1.0)*x453))+x450);
evalcond[3]=(((new_r01*x449))+gconst2+(((-1.0)*new_r11*x452)));
evalcond[4]=((((-1.0)*x453))+x450+new_r11);
evalcond[5]=((((-1.0)*x451))+(((-1.0)*gconst1*x452)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x455 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x455.valid){
continue;
}
IkReal x454=((-1.0)*(x455.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x454;
new_r01=0;
new_r10=0;
IkReal gconst0=x454;
IkReal x456 = new_r11*new_r11;
if(IKabs(x456)==0){
continue;
}
IkReal gconst1=(new_r11*(pow(x456,-0.5)));
IkReal gconst2=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x458 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x458.valid){
continue;
}
IkReal x457=((-1.0)*(x458.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x457;
new_r01=0;
new_r10=0;
IkReal gconst0=x457;
IkReal x459 = new_r11*new_r11;
if(IKabs(x459)==0){
continue;
}
IkReal gconst1=(new_r11*(pow(x459,-0.5)));
IkReal gconst2=0;
j3eval[0]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x460=IKPowWithIntegerCheck(gconst1,-1);
if(!x460.valid){
continue;
}
sj3array[0]=((-1.0)*new_r00*(x460.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x461=IKcos(j3);
IkReal x462=IKsin(j3);
evalcond[0]=(gconst1*x461);
evalcond[1]=(new_r00*x461);
evalcond[2]=((-1.0)*new_r11*x461);
evalcond[3]=(((new_r00*x462))+gconst1);
evalcond[4]=(((new_r11*x462))+gconst1);
evalcond[5]=(((gconst1*x462))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x463=IKPowWithIntegerCheck(new_r11,-1);
if(!x463.valid){
continue;
}
sj3array[0]=((-1.0)*gconst1*(x463.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x464=IKcos(j3);
IkReal x465=IKsin(j3);
IkReal x466=(gconst1*x465);
evalcond[0]=(gconst1*x464);
evalcond[1]=(new_r00*x464);
evalcond[2]=((-1.0)*new_r11*x464);
evalcond[3]=(((new_r00*x465))+gconst1);
evalcond[4]=(x466+new_r00);
evalcond[5]=(x466+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x467=IKPowWithIntegerCheck(new_r00,-1);
if(!x467.valid){
continue;
}
sj3array[0]=((-1.0)*gconst1*(x467.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x468=IKcos(j3);
IkReal x469=IKsin(j3);
IkReal x470=(gconst1*x469);
evalcond[0]=(gconst1*x468);
evalcond[1]=(new_r00*x468);
evalcond[2]=((-1.0)*new_r11*x468);
evalcond[3]=(((new_r11*x469))+gconst1);
evalcond[4]=(x470+new_r00);
evalcond[5]=(x470+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r11);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x471=((-1.0)*new_r01);
CheckValue<IkReal> x473 = IKatan2WithCheck(IkReal(0),IkReal(x471),IKFAST_ATAN2_MAGTHRESH);
if(!x473.valid){
continue;
}
IkReal x472=((-1.0)*(x473.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x472;
new_r11=0;
IkReal gconst0=x472;
IkReal gconst1=0;
IkReal x474 = new_r01*new_r01;
if(IKabs(x474)==0){
continue;
}
IkReal gconst2=(x471*(pow(x474,-0.5)));
j3eval[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x475=((-1.0)*new_r01);
CheckValue<IkReal> x477 = IKatan2WithCheck(IkReal(0),IkReal(x475),IKFAST_ATAN2_MAGTHRESH);
if(!x477.valid){
continue;
}
IkReal x476=((-1.0)*(x477.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x476;
new_r11=0;
IkReal gconst0=x476;
IkReal gconst1=0;
IkReal x478 = new_r01*new_r01;
if(IKabs(x478)==0){
continue;
}
IkReal gconst2=(x475*(pow(x478,-0.5)));
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x479=((-1.0)*new_r01);
CheckValue<IkReal> x481 = IKatan2WithCheck(IkReal(0),IkReal(x479),IKFAST_ATAN2_MAGTHRESH);
if(!x481.valid){
continue;
}
IkReal x480=((-1.0)*(x481.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst1;
cj5=gconst2;
j5=x480;
new_r11=0;
IkReal gconst0=x480;
IkReal gconst1=0;
IkReal x482 = new_r01*new_r01;
if(IKabs(x482)==0){
continue;
}
IkReal gconst2=(x479*(pow(x482,-0.5)));
j3eval[0]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x483=IKPowWithIntegerCheck(new_r01,-1);
if(!x483.valid){
continue;
}
CheckValue<IkReal> x484=IKPowWithIntegerCheck(gconst2,-1);
if(!x484.valid){
continue;
}
if( IKabs(((-1.0)*gconst2*(x483.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r00*(x484.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst2*(x483.value)))+IKsqr((new_r00*(x484.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst2*(x483.value)), (new_r00*(x484.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x485=IKcos(j3);
IkReal x486=IKsin(j3);
IkReal x487=((1.0)*gconst2);
IkReal x488=(gconst2*x486);
evalcond[0]=(new_r01*x485);
evalcond[1]=((-1.0)*gconst2*x485);
evalcond[2]=(gconst2+((new_r01*x486)));
evalcond[3]=(x488+new_r01);
evalcond[4]=(new_r00+(((-1.0)*x485*x487)));
evalcond[5]=((((-1.0)*x486*x487))+new_r10);
evalcond[6]=((((-1.0)*new_r10*x485))+((new_r00*x486)));
evalcond[7]=((((-1.0)*x487))+((new_r10*x486))+((new_r00*x485)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x489 = IKatan2WithCheck(IkReal(((-1.0)*new_r01)),IkReal(new_r00),IKFAST_ATAN2_MAGTHRESH);
if(!x489.valid){
continue;
}
CheckValue<IkReal> x490=IKPowWithIntegerCheck(IKsign(gconst2),-1);
if(!x490.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x489.value)+(((1.5707963267949)*(x490.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x491=IKcos(j3);
IkReal x492=IKsin(j3);
IkReal x493=((1.0)*gconst2);
IkReal x494=(gconst2*x492);
evalcond[0]=(new_r01*x491);
evalcond[1]=((-1.0)*gconst2*x491);
evalcond[2]=(gconst2+((new_r01*x492)));
evalcond[3]=(x494+new_r01);
evalcond[4]=((((-1.0)*x491*x493))+new_r00);
evalcond[5]=(new_r10+(((-1.0)*x492*x493)));
evalcond[6]=((((-1.0)*new_r10*x491))+((new_r00*x492)));
evalcond[7]=((((-1.0)*x493))+((new_r10*x492))+((new_r00*x491)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x495=IKPowWithIntegerCheck(IKsign(gconst2),-1);
if(!x495.valid){
continue;
}
CheckValue<IkReal> x496 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r00),IKFAST_ATAN2_MAGTHRESH);
if(!x496.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x495.value)))+(x496.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x497=IKcos(j3);
IkReal x498=IKsin(j3);
IkReal x499=((1.0)*gconst2);
IkReal x500=(gconst2*x498);
evalcond[0]=(new_r01*x497);
evalcond[1]=((-1.0)*gconst2*x497);
evalcond[2]=(gconst2+((new_r01*x498)));
evalcond[3]=(x500+new_r01);
evalcond[4]=((((-1.0)*x497*x499))+new_r00);
evalcond[5]=((((-1.0)*x498*x499))+new_r10);
evalcond[6]=((((-1.0)*new_r10*x497))+((new_r00*x498)));
evalcond[7]=((((-1.0)*x499))+((new_r10*x498))+((new_r00*x497)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x501=((1.0)*new_r01);
CheckValue<IkReal> x502 = IKatan2WithCheck(IkReal(((new_r01*new_r01)+(((-1.0)*(gconst1*gconst1))))),IkReal(((((-1.0)*new_r11*x501))+((gconst1*gconst2)))),IKFAST_ATAN2_MAGTHRESH);
if(!x502.valid){
continue;
}
CheckValue<IkReal> x503=IKPowWithIntegerCheck(IKsign((((gconst1*new_r11))+(((-1.0)*gconst2*x501)))),-1);
if(!x503.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x502.value)+(((1.5707963267949)*(x503.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x504=IKcos(j3);
IkReal x505=IKsin(j3);
IkReal x506=((1.0)*gconst2);
IkReal x507=(gconst1*x505);
IkReal x508=(gconst2*x505);
IkReal x509=(gconst1*x504);
IkReal x510=((1.0)*x504);
IkReal x511=(x504*x506);
evalcond[0]=(gconst1+((new_r11*x505))+((new_r01*x504)));
evalcond[1]=(x508+x509+new_r01);
evalcond[2]=((((-1.0)*new_r10*x510))+gconst1+((new_r00*x505)));
evalcond[3]=((((-1.0)*new_r11*x510))+gconst2+((new_r01*x505)));
evalcond[4]=(x507+new_r00+(((-1.0)*x511)));
evalcond[5]=(x507+new_r11+(((-1.0)*x511)));
evalcond[6]=((((-1.0)*x506))+((new_r10*x505))+((new_r00*x504)));
evalcond[7]=((((-1.0)*x505*x506))+new_r10+(((-1.0)*x509)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x512=((1.0)*gconst2);
CheckValue<IkReal> x513 = IKatan2WithCheck(IkReal(((gconst1*gconst1)+((new_r01*new_r10)))),IkReal((((new_r00*new_r01))+(((-1.0)*gconst1*x512)))),IKFAST_ATAN2_MAGTHRESH);
if(!x513.valid){
continue;
}
CheckValue<IkReal> x514=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r10*x512))+(((-1.0)*gconst1*new_r00)))),-1);
if(!x514.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x513.value)+(((1.5707963267949)*(x514.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x515=IKcos(j3);
IkReal x516=IKsin(j3);
IkReal x517=((1.0)*gconst2);
IkReal x518=(gconst1*x516);
IkReal x519=(gconst2*x516);
IkReal x520=(gconst1*x515);
IkReal x521=((1.0)*x515);
IkReal x522=(x515*x517);
evalcond[0]=(((new_r01*x515))+((new_r11*x516))+gconst1);
evalcond[1]=(x520+x519+new_r01);
evalcond[2]=(((new_r00*x516))+gconst1+(((-1.0)*new_r10*x521)));
evalcond[3]=(((new_r01*x516))+gconst2+(((-1.0)*new_r11*x521)));
evalcond[4]=((((-1.0)*x522))+x518+new_r00);
evalcond[5]=((((-1.0)*x522))+x518+new_r11);
evalcond[6]=(((new_r00*x515))+((new_r10*x516))+(((-1.0)*x517)));
evalcond[7]=((((-1.0)*x520))+(((-1.0)*x516*x517))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x523=((1.0)*new_r11);
CheckValue<IkReal> x524 = IKatan2WithCheck(IkReal((((gconst1*new_r10))+((gconst1*new_r01)))),IkReal((((gconst1*new_r00))+(((-1.0)*gconst1*x523)))),IKFAST_ATAN2_MAGTHRESH);
if(!x524.valid){
continue;
}
CheckValue<IkReal> x525=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r10*x523))+(((-1.0)*new_r00*new_r01)))),-1);
if(!x525.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x524.value)+(((1.5707963267949)*(x525.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x526=IKcos(j3);
IkReal x527=IKsin(j3);
IkReal x528=((1.0)*gconst2);
IkReal x529=(gconst1*x527);
IkReal x530=(gconst2*x527);
IkReal x531=(gconst1*x526);
IkReal x532=((1.0)*x526);
IkReal x533=(x526*x528);
evalcond[0]=(((new_r01*x526))+gconst1+((new_r11*x527)));
evalcond[1]=(x531+x530+new_r01);
evalcond[2]=(gconst1+(((-1.0)*new_r10*x532))+((new_r00*x527)));
evalcond[3]=(((new_r01*x527))+gconst2+(((-1.0)*new_r11*x532)));
evalcond[4]=((((-1.0)*x533))+x529+new_r00);
evalcond[5]=((((-1.0)*x533))+x529+new_r11);
evalcond[6]=((((-1.0)*x528))+((new_r10*x527))+((new_r00*x526)));
evalcond[7]=((((-1.0)*x527*x528))+(((-1.0)*x531))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x534=((-1.0)*new_r11);
IkReal x536 = ((new_r01*new_r01)+(new_r11*new_r11));
if(IKabs(x536)==0){
continue;
}
IkReal x535=pow(x536,-0.5);
CheckValue<IkReal> x537 = IKatan2WithCheck(IkReal(x534),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x537.valid){
continue;
}
IkReal gconst3=((3.14159265358979)+(((-1.0)*(x537.value))));
IkReal gconst4=(x534*x535);
IkReal gconst5=((1.0)*new_r01*x535);
CheckValue<IkReal> x538 = IKatan2WithCheck(IkReal(((-1.0)*new_r11)),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x538.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+(x538.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x539=((-1.0)*new_r11);
CheckValue<IkReal> x542 = IKatan2WithCheck(IkReal(x539),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x542.valid){
continue;
}
IkReal x540=((1.0)*(x542.value));
IkReal x541=x535;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x540)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x540)));
IkReal gconst4=(x539*x541);
IkReal gconst5=((1.0)*new_r01*x541);
IkReal x543=new_r11*new_r11;
IkReal x544=((1.0)*new_r01);
IkReal x545=((1.0)*new_r10);
IkReal x546=((((-1.0)*new_r00*x544))+(((-1.0)*new_r11*x545)));
IkReal x547=x535;
IkReal x548=(new_r11*x547);
j3eval[0]=x546;
j3eval[1]=((IKabs((((x543*x547))+(((-1.0)*new_r00*x548)))))+(IKabs(((((-1.0)*x544*x548))+(((-1.0)*x545*x548))))));
j3eval[2]=IKsign(x546);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x549=((-1.0)*new_r11);
CheckValue<IkReal> x552 = IKatan2WithCheck(IkReal(x549),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x552.valid){
continue;
}
IkReal x550=((1.0)*(x552.value));
IkReal x551=x535;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x550)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x550)));
IkReal gconst4=(x549*x551);
IkReal gconst5=((1.0)*new_r01*x551);
IkReal x553=new_r11*new_r11;
IkReal x554=new_r01*new_r01*new_r01;
CheckValue<IkReal> x558=IKPowWithIntegerCheck(((new_r01*new_r01)+x553),-1);
if(!x558.valid){
continue;
}
IkReal x555=x558.value;
IkReal x556=(x553*x555);
IkReal x557=(x554*x555);
j3eval[0]=((IKabs((((new_r10*x557))+x556+((new_r01*new_r10*x556)))))+(IKabs((((new_r00*new_r01*x556))+((new_r01*new_r11*x555))+((new_r00*x557))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x559=((-1.0)*new_r11);
CheckValue<IkReal> x562 = IKatan2WithCheck(IkReal(x559),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x562.valid){
continue;
}
IkReal x560=((1.0)*(x562.value));
IkReal x561=x535;
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x560)));
IkReal gconst3=((3.14159265358979)+(((-1.0)*x560)));
IkReal gconst4=(x559*x561);
IkReal gconst5=((1.0)*new_r01*x561);
IkReal x563=new_r01*new_r01;
IkReal x564=new_r11*new_r11;
CheckValue<IkReal> x571=IKPowWithIntegerCheck((x564+x563),-1);
if(!x571.valid){
continue;
}
IkReal x565=x571.value;
IkReal x566=(x564*x565);
CheckValue<IkReal> x572=IKPowWithIntegerCheck(((((-1.0)*x563))+(((-1.0)*x564))),-1);
if(!x572.valid){
continue;
}
IkReal x567=x572.value;
IkReal x568=((1.0)*x567);
IkReal x569=(new_r11*x568);
IkReal x570=(new_r01*x568);
j3eval[0]=((IKabs((((x563*x566))+((x565*(x563*x563)))+(((-1.0)*x566)))))+(IKabs(((((-1.0)*new_r01*x569*(new_r11*new_r11)))+(((-1.0)*x569*(new_r01*new_r01*new_r01)))+(((-1.0)*new_r01*x569))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[3];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x573=IKPowWithIntegerCheck(gconst5,-1);
if(!x573.valid){
continue;
}
sj3array[0]=(new_r10*(x573.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x574=IKcos(j3);
IkReal x575=IKsin(j3);
IkReal x576=((-1.0)*x574);
evalcond[0]=(new_r01*x574);
evalcond[1]=(new_r10*x576);
evalcond[2]=(gconst5*x576);
evalcond[3]=(((new_r01*x575))+gconst5);
evalcond[4]=(((gconst5*x575))+new_r01);
evalcond[5]=(((new_r10*x575))+(((-1.0)*gconst5)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r00)));
evalcond[1]=gconst4;
evalcond[2]=gconst5;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x577=((-1.0)*new_r11);
CheckValue<IkReal> x579 = IKatan2WithCheck(IkReal(x577),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x579.valid){
continue;
}
IkReal x578=((1.0)*(x579.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x578)));
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x578)));
IkReal gconst4=x577;
IkReal gconst5=((1.0)*new_r01);
j3eval[0]=1.0;
j3eval[1]=1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r01*new_r01))))))+(IKabs(((1.0)*new_r01*new_r11))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[4];
IkReal x580=((-1.0)*new_r11);
CheckValue<IkReal> x582 = IKatan2WithCheck(IkReal(x580),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x582.valid){
continue;
}
IkReal x581=((1.0)*(x582.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x581)));
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x581)));
IkReal gconst4=x580;
IkReal gconst5=((1.0)*new_r01);
j3eval[0]=-1.0;
j3eval[1]=new_r01;
j3eval[2]=1.0;
j3eval[3]=-1.0;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  || IKabs(j3eval[3]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x583=((-1.0)*new_r11);
CheckValue<IkReal> x585 = IKatan2WithCheck(IkReal(x583),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x585.valid){
continue;
}
IkReal x584=((1.0)*(x585.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x584)));
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x584)));
IkReal gconst4=x583;
IkReal gconst5=((1.0)*new_r01);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((2.0)*new_r01*new_r11)))+(IKabs(((-1.0)+(((2.0)*(new_r01*new_r01)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x586=((1.0)*new_r01);
CheckValue<IkReal> x587 = IKatan2WithCheck(IkReal(((new_r01*new_r01)+(((-1.0)*(gconst4*gconst4))))),IkReal(((((-1.0)*new_r11*x586))+((gconst4*gconst5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x587.valid){
continue;
}
CheckValue<IkReal> x588=IKPowWithIntegerCheck(IKsign((((gconst4*new_r11))+(((-1.0)*gconst5*x586)))),-1);
if(!x588.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x587.value)+(((1.5707963267949)*(x588.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x589=IKsin(j3);
IkReal x590=IKcos(j3);
IkReal x591=(gconst4*x589);
IkReal x592=(gconst4*x590);
IkReal x593=((1.0)*x590);
IkReal x594=(gconst5*x589);
IkReal x595=(gconst5*x593);
evalcond[0]=(gconst4+((new_r01*x590))+((new_r11*x589)));
evalcond[1]=(x594+x592+new_r01);
evalcond[2]=((((-1.0)*x595))+x591);
evalcond[3]=((((-1.0)*new_r11*x593))+gconst5+((new_r01*x589)));
evalcond[4]=((((-1.0)*x595))+x591+new_r11);
evalcond[5]=((((-1.0)*x594))+(((-1.0)*x592)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x596=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst4*gconst4)))+(((-1.0)*(gconst5*gconst5))))),-1);
if(!x596.valid){
continue;
}
CheckValue<IkReal> x597 = IKatan2WithCheck(IkReal((gconst5*new_r01)),IkReal((gconst4*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x597.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x596.value)))+(x597.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x598=IKsin(j3);
IkReal x599=IKcos(j3);
IkReal x600=(gconst4*x598);
IkReal x601=(gconst4*x599);
IkReal x602=((1.0)*x599);
IkReal x603=(gconst5*x598);
IkReal x604=(gconst5*x602);
evalcond[0]=(((new_r11*x598))+gconst4+((new_r01*x599)));
evalcond[1]=(x603+x601+new_r01);
evalcond[2]=(x600+(((-1.0)*x604)));
evalcond[3]=((((-1.0)*new_r11*x602))+gconst5+((new_r01*x598)));
evalcond[4]=(x600+(((-1.0)*x604))+new_r11);
evalcond[5]=((((-1.0)*x601))+(((-1.0)*x603)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x605=IKPowWithIntegerCheck(IKsign((((gconst5*new_r01))+(((-1.0)*gconst4*new_r11)))),-1);
if(!x605.valid){
continue;
}
CheckValue<IkReal> x606 = IKatan2WithCheck(IkReal(gconst4*gconst4),IkReal(((-1.0)*gconst4*gconst5)),IKFAST_ATAN2_MAGTHRESH);
if(!x606.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x605.value)))+(x606.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x607=IKsin(j3);
IkReal x608=IKcos(j3);
IkReal x609=(gconst4*x607);
IkReal x610=(gconst4*x608);
IkReal x611=((1.0)*x608);
IkReal x612=(gconst5*x607);
IkReal x613=(gconst5*x611);
evalcond[0]=(gconst4+((new_r11*x607))+((new_r01*x608)));
evalcond[1]=(x610+x612+new_r01);
evalcond[2]=((((-1.0)*x613))+x609);
evalcond[3]=(gconst5+(((-1.0)*new_r11*x611))+((new_r01*x607)));
evalcond[4]=((((-1.0)*x613))+x609+new_r11);
evalcond[5]=((((-1.0)*x610))+(((-1.0)*x612)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x614=((-1.0)*new_r11);
CheckValue<IkReal> x616 = IKatan2WithCheck(IkReal(x614),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x616.valid){
continue;
}
IkReal x615=((1.0)*(x616.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x615)));
new_r01=0;
new_r10=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x615)));
IkReal x617 = new_r11*new_r11;
if(IKabs(x617)==0){
continue;
}
IkReal gconst4=(x614*(pow(x617,-0.5)));
IkReal gconst5=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x618=((-1.0)*new_r11);
CheckValue<IkReal> x620 = IKatan2WithCheck(IkReal(x618),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x620.valid){
continue;
}
IkReal x619=((1.0)*(x620.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x619)));
new_r01=0;
new_r10=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x619)));
IkReal x621 = new_r11*new_r11;
if(IKabs(x621)==0){
continue;
}
IkReal gconst4=(x618*(pow(x621,-0.5)));
IkReal gconst5=0;
j3eval[0]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x622=IKPowWithIntegerCheck(gconst4,-1);
if(!x622.valid){
continue;
}
sj3array[0]=((-1.0)*new_r00*(x622.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x623=IKcos(j3);
IkReal x624=IKsin(j3);
evalcond[0]=(gconst4*x623);
evalcond[1]=(new_r00*x623);
evalcond[2]=((-1.0)*new_r11*x623);
evalcond[3]=(gconst4+((new_r00*x624)));
evalcond[4]=(gconst4+((new_r11*x624)));
evalcond[5]=(((gconst4*x624))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x625=IKPowWithIntegerCheck(new_r11,-1);
if(!x625.valid){
continue;
}
sj3array[0]=((-1.0)*gconst4*(x625.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x626=IKcos(j3);
IkReal x627=IKsin(j3);
IkReal x628=(gconst4*x627);
evalcond[0]=(gconst4*x626);
evalcond[1]=(new_r00*x626);
evalcond[2]=((-1.0)*new_r11*x626);
evalcond[3]=(gconst4+((new_r00*x627)));
evalcond[4]=(x628+new_r00);
evalcond[5]=(x628+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x629=IKPowWithIntegerCheck(new_r00,-1);
if(!x629.valid){
continue;
}
sj3array[0]=((-1.0)*gconst4*(x629.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x630=IKcos(j3);
IkReal x631=IKsin(j3);
IkReal x632=(gconst4*x631);
evalcond[0]=(gconst4*x630);
evalcond[1]=(new_r00*x630);
evalcond[2]=((-1.0)*new_r11*x630);
evalcond[3]=(gconst4+((new_r11*x631)));
evalcond[4]=(x632+new_r00);
evalcond[5]=(x632+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r11);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x634 = IKatan2WithCheck(IkReal(0),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x634.valid){
continue;
}
IkReal x633=((1.0)*(x634.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x633)));
new_r11=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x633)));
IkReal gconst4=0;
IkReal x635 = new_r01*new_r01;
if(IKabs(x635)==0){
continue;
}
IkReal gconst5=((1.0)*new_r01*(pow(x635,-0.5)));
j3eval[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x637 = IKatan2WithCheck(IkReal(0),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x637.valid){
continue;
}
IkReal x636=((1.0)*(x637.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x636)));
new_r11=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x636)));
IkReal gconst4=0;
IkReal x638 = new_r01*new_r01;
if(IKabs(x638)==0){
continue;
}
IkReal gconst5=((1.0)*new_r01*(pow(x638,-0.5)));
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x640 = IKatan2WithCheck(IkReal(0),IkReal(((-1.0)*new_r01)),IKFAST_ATAN2_MAGTHRESH);
if(!x640.valid){
continue;
}
IkReal x639=((1.0)*(x640.value));
sj4=0;
cj4=1.0;
j4=0;
sj5=gconst4;
cj5=gconst5;
j5=((3.14159265)+(((-1.0)*x639)));
new_r11=0;
IkReal gconst3=((3.14159265358979)+(((-1.0)*x639)));
IkReal gconst4=0;
IkReal x641 = new_r01*new_r01;
if(IKabs(x641)==0){
continue;
}
IkReal gconst5=((1.0)*new_r01*(pow(x641,-0.5)));
j3eval[0]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x642=IKPowWithIntegerCheck(new_r01,-1);
if(!x642.valid){
continue;
}
CheckValue<IkReal> x643=IKPowWithIntegerCheck(gconst5,-1);
if(!x643.valid){
continue;
}
if( IKabs(((-1.0)*gconst5*(x642.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r00*(x643.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst5*(x642.value)))+IKsqr((new_r00*(x643.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst5*(x642.value)), (new_r00*(x643.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x644=IKcos(j3);
IkReal x645=IKsin(j3);
IkReal x646=((1.0)*gconst5);
evalcond[0]=(new_r01*x644);
evalcond[1]=((-1.0)*gconst5*x644);
evalcond[2]=(gconst5+((new_r01*x645)));
evalcond[3]=(new_r01+((gconst5*x645)));
evalcond[4]=((((-1.0)*x644*x646))+new_r00);
evalcond[5]=((((-1.0)*x645*x646))+new_r10);
evalcond[6]=((((-1.0)*new_r10*x644))+((new_r00*x645)));
evalcond[7]=((((-1.0)*x646))+((new_r10*x645))+((new_r00*x644)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x647 = IKatan2WithCheck(IkReal(((-1.0)*new_r01)),IkReal(new_r00),IKFAST_ATAN2_MAGTHRESH);
if(!x647.valid){
continue;
}
CheckValue<IkReal> x648=IKPowWithIntegerCheck(IKsign(gconst5),-1);
if(!x648.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x647.value)+(((1.5707963267949)*(x648.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x649=IKcos(j3);
IkReal x650=IKsin(j3);
IkReal x651=((1.0)*gconst5);
evalcond[0]=(new_r01*x649);
evalcond[1]=((-1.0)*gconst5*x649);
evalcond[2]=(gconst5+((new_r01*x650)));
evalcond[3]=(new_r01+((gconst5*x650)));
evalcond[4]=((((-1.0)*x649*x651))+new_r00);
evalcond[5]=((((-1.0)*x650*x651))+new_r10);
evalcond[6]=((((-1.0)*new_r10*x649))+((new_r00*x650)));
evalcond[7]=((((-1.0)*x651))+((new_r00*x649))+((new_r10*x650)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x652 = IKatan2WithCheck(IkReal(new_r10),IkReal(new_r00),IKFAST_ATAN2_MAGTHRESH);
if(!x652.valid){
continue;
}
CheckValue<IkReal> x653=IKPowWithIntegerCheck(IKsign(gconst5),-1);
if(!x653.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x652.value)+(((1.5707963267949)*(x653.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x654=IKcos(j3);
IkReal x655=IKsin(j3);
IkReal x656=((1.0)*gconst5);
evalcond[0]=(new_r01*x654);
evalcond[1]=((-1.0)*gconst5*x654);
evalcond[2]=(gconst5+((new_r01*x655)));
evalcond[3]=(new_r01+((gconst5*x655)));
evalcond[4]=(new_r00+(((-1.0)*x654*x656)));
evalcond[5]=((((-1.0)*x655*x656))+new_r10);
evalcond[6]=((((-1.0)*new_r10*x654))+((new_r00*x655)));
evalcond[7]=((((-1.0)*x656))+((new_r10*x655))+((new_r00*x654)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x657=((1.0)*new_r01);
CheckValue<IkReal> x658 = IKatan2WithCheck(IkReal(((new_r01*new_r01)+(((-1.0)*(gconst4*gconst4))))),IkReal(((((-1.0)*new_r11*x657))+((gconst4*gconst5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x658.valid){
continue;
}
CheckValue<IkReal> x659=IKPowWithIntegerCheck(IKsign((((gconst4*new_r11))+(((-1.0)*gconst5*x657)))),-1);
if(!x659.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x658.value)+(((1.5707963267949)*(x659.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x660=IKsin(j3);
IkReal x661=IKcos(j3);
IkReal x662=((1.0)*gconst5);
IkReal x663=(gconst4*x660);
IkReal x664=(gconst4*x661);
IkReal x665=((1.0)*x661);
IkReal x666=(x661*x662);
evalcond[0]=(gconst4+((new_r11*x660))+((new_r01*x661)));
evalcond[1]=(((gconst5*x660))+x664+new_r01);
evalcond[2]=(gconst4+(((-1.0)*new_r10*x665))+((new_r00*x660)));
evalcond[3]=(gconst5+(((-1.0)*new_r11*x665))+((new_r01*x660)));
evalcond[4]=((((-1.0)*x666))+x663+new_r00);
evalcond[5]=((((-1.0)*x666))+x663+new_r11);
evalcond[6]=(((new_r10*x660))+(((-1.0)*x662))+((new_r00*x661)));
evalcond[7]=((((-1.0)*x660*x662))+(((-1.0)*x664))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x667=((1.0)*gconst4);
CheckValue<IkReal> x668 = IKatan2WithCheck(IkReal(((gconst4*gconst4)+((new_r01*new_r10)))),IkReal((((new_r00*new_r01))+(((-1.0)*gconst5*x667)))),IKFAST_ATAN2_MAGTHRESH);
if(!x668.valid){
continue;
}
CheckValue<IkReal> x669=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst5*new_r10))+(((-1.0)*new_r00*x667)))),-1);
if(!x669.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x668.value)+(((1.5707963267949)*(x669.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x670=IKsin(j3);
IkReal x671=IKcos(j3);
IkReal x672=((1.0)*gconst5);
IkReal x673=(gconst4*x670);
IkReal x674=(gconst4*x671);
IkReal x675=((1.0)*x671);
IkReal x676=(x671*x672);
evalcond[0]=(((new_r11*x670))+((new_r01*x671))+gconst4);
evalcond[1]=(((gconst5*x670))+x674+new_r01);
evalcond[2]=(((new_r00*x670))+gconst4+(((-1.0)*new_r10*x675)));
evalcond[3]=(((new_r01*x670))+gconst5+(((-1.0)*new_r11*x675)));
evalcond[4]=(x673+new_r00+(((-1.0)*x676)));
evalcond[5]=(x673+new_r11+(((-1.0)*x676)));
evalcond[6]=(((new_r00*x671))+((new_r10*x670))+(((-1.0)*x672)));
evalcond[7]=((((-1.0)*x670*x672))+(((-1.0)*x674))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x677=((1.0)*new_r11);
CheckValue<IkReal> x678=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r00*new_r01))+(((-1.0)*new_r10*x677)))),-1);
if(!x678.valid){
continue;
}
CheckValue<IkReal> x679 = IKatan2WithCheck(IkReal((((gconst4*new_r10))+((gconst4*new_r01)))),IkReal((((gconst4*new_r00))+(((-1.0)*gconst4*x677)))),IKFAST_ATAN2_MAGTHRESH);
if(!x679.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x678.value)))+(x679.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x680=IKsin(j3);
IkReal x681=IKcos(j3);
IkReal x682=((1.0)*gconst5);
IkReal x683=(gconst4*x680);
IkReal x684=(gconst4*x681);
IkReal x685=((1.0)*x681);
IkReal x686=(x681*x682);
evalcond[0]=(gconst4+((new_r01*x681))+((new_r11*x680)));
evalcond[1]=(((gconst5*x680))+x684+new_r01);
evalcond[2]=((((-1.0)*new_r10*x685))+gconst4+((new_r00*x680)));
evalcond[3]=(gconst5+((new_r01*x680))+(((-1.0)*new_r11*x685)));
evalcond[4]=((((-1.0)*x686))+x683+new_r00);
evalcond[5]=((((-1.0)*x686))+x683+new_r11);
evalcond[6]=((((-1.0)*x682))+((new_r00*x681))+((new_r10*x680)));
evalcond[7]=((((-1.0)*x680*x682))+new_r10+(((-1.0)*x684)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j5))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
if( IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r00) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r01))+IKsqr(new_r00)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*new_r01), new_r00);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x687=IKsin(j3);
IkReal x688=IKcos(j3);
IkReal x689=((1.0)*x688);
evalcond[0]=(x687+new_r01);
evalcond[1]=((((-1.0)*x689))+new_r00);
evalcond[2]=((((-1.0)*x689))+new_r11);
evalcond[3]=(new_r10+(((-1.0)*x687)));
evalcond[4]=(((new_r01*x688))+((new_r11*x687)));
evalcond[5]=((((-1.0)*new_r10*x689))+((new_r00*x687)));
evalcond[6]=((-1.0)+((new_r00*x688))+((new_r10*x687)));
evalcond[7]=((1.0)+((new_r01*x687))+(((-1.0)*new_r11*x689)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
if( IKabs(((-1.0)*new_r10)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r00)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r10))+IKsqr(((-1.0)*new_r00))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*new_r10), ((-1.0)*new_r00));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x690=IKcos(j3);
IkReal x691=IKsin(j3);
IkReal x692=((1.0)*x690);
evalcond[0]=(x690+new_r00);
evalcond[1]=(x690+new_r11);
evalcond[2]=(x691+new_r10);
evalcond[3]=(new_r01+(((-1.0)*x691)));
evalcond[4]=(((new_r11*x691))+((new_r01*x690)));
evalcond[5]=((((-1.0)*new_r10*x692))+((new_r00*x691)));
evalcond[6]=((1.0)+((new_r10*x691))+((new_r00*x690)));
evalcond[7]=((-1.0)+(((-1.0)*new_r11*x692))+((new_r01*x691)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
new_r11=0;
new_r00=0;
j3eval[0]=new_r01;
j3eval[1]=IKsign(new_r01);
j3eval[2]=((IKabs(cj5))+(IKabs(sj5)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
sj4=0;
cj4=1.0;
j4=0;
new_r11=0;
new_r00=0;
j3eval[0]=new_r01;
j3eval[1]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
sj4=0;
cj4=1.0;
j4=0;
new_r11=0;
new_r00=0;
j3eval[0]=new_r01;
j3eval[1]=sj5;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(j5))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
sj3array[0]=new_r10;
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x693=IKcos(j3);
IkReal x694=IKsin(j3);
IkReal x695=((-1.0)*x693);
evalcond[0]=(new_r01*x693);
evalcond[1]=(x694+new_r01);
evalcond[2]=x695;
evalcond[3]=(new_r10*x695);
evalcond[4]=((1.0)+((new_r01*x694)));
evalcond[5]=((-1.0)+((new_r10*x694)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
sj3array[0]=new_r01;
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x696=IKcos(j3);
IkReal x697=IKsin(j3);
evalcond[0]=x696;
evalcond[1]=(new_r01*x696);
evalcond[2]=(x697+new_r10);
evalcond[3]=((-1.0)*new_r10*x696);
evalcond[4]=((-1.0)+((new_r01*x697)));
evalcond[5]=((1.0)+((new_r10*x697)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x699=IKPowWithIntegerCheck(new_r01,-1);
if(!x699.valid){
continue;
}
IkReal x698=x699.value;
CheckValue<IkReal> x700=IKPowWithIntegerCheck(sj5,-1);
if(!x700.valid){
continue;
}
CheckValue<IkReal> x701=IKPowWithIntegerCheck(x698,-2);
if(!x701.valid){
continue;
}
if( IKabs(((-1.0)*cj5*x698)) < IKFAST_ATAN2_MAGTHRESH && IKabs((x698*(x700.value)*(((((-1.0)*(x701.value)))+(cj5*cj5))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*cj5*x698))+IKsqr((x698*(x700.value)*(((((-1.0)*(x701.value)))+(cj5*cj5)))))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*cj5*x698), (x698*(x700.value)*(((((-1.0)*(x701.value)))+(cj5*cj5)))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x702=IKcos(j3);
IkReal x703=IKsin(j3);
IkReal x704=((1.0)*cj5);
IkReal x705=(sj5*x702);
evalcond[0]=(cj5+((new_r01*x703)));
evalcond[1]=(sj5+((new_r01*x702)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x702)));
evalcond[3]=((((-1.0)*x704))+((new_r10*x703)));
evalcond[4]=(((cj5*x703))+x705+new_r01);
evalcond[5]=((((-1.0)*x702*x704))+((sj5*x703)));
evalcond[6]=((((-1.0)*x705))+(((-1.0)*x703*x704))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x706=IKPowWithIntegerCheck(new_r01,-1);
if(!x706.valid){
continue;
}
CheckValue<IkReal> x707=IKPowWithIntegerCheck(new_r10,-1);
if(!x707.valid){
continue;
}
if( IKabs(((-1.0)*cj5*(x706.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((sj5*(x707.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*cj5*(x706.value)))+IKsqr((sj5*(x707.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*cj5*(x706.value)), (sj5*(x707.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x708=IKcos(j3);
IkReal x709=IKsin(j3);
IkReal x710=((1.0)*cj5);
IkReal x711=(sj5*x708);
evalcond[0]=(cj5+((new_r01*x709)));
evalcond[1]=(sj5+((new_r01*x708)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x708)));
evalcond[3]=((((-1.0)*x710))+((new_r10*x709)));
evalcond[4]=(((cj5*x709))+x711+new_r01);
evalcond[5]=(((sj5*x709))+(((-1.0)*x708*x710)));
evalcond[6]=((((-1.0)*x709*x710))+(((-1.0)*x711))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x712=IKPowWithIntegerCheck(IKsign(new_r01),-1);
if(!x712.valid){
continue;
}
CheckValue<IkReal> x713 = IKatan2WithCheck(IkReal(((-1.0)*cj5)),IkReal(((-1.0)*sj5)),IKFAST_ATAN2_MAGTHRESH);
if(!x713.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x712.value)))+(x713.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x714=IKcos(j3);
IkReal x715=IKsin(j3);
IkReal x716=((1.0)*cj5);
IkReal x717=(sj5*x714);
evalcond[0]=(cj5+((new_r01*x715)));
evalcond[1]=(sj5+((new_r01*x714)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x714)));
evalcond[3]=((((-1.0)*x716))+((new_r10*x715)));
evalcond[4]=(((cj5*x715))+x717+new_r01);
evalcond[5]=((((-1.0)*x714*x716))+((sj5*x715)));
evalcond[6]=((((-1.0)*x717))+new_r10+(((-1.0)*x715*x716)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
sj4=0;
cj4=1.0;
j4=0;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
j3eval[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x719 = IKatan2WithCheck(IkReal(new_r00),IkReal(new_r10),IKFAST_ATAN2_MAGTHRESH);
if(!x719.valid){
continue;
}
IkReal x718=x719.value;
j3array[0]=((-1.0)*x718);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x718)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[1];
evalcond[0]=(((new_r00*(IKsin(j3))))+(((-1.0)*new_r10*(IKcos(j3)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
sj4=0;
cj4=1.0;
j4=0;
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x721 = IKatan2WithCheck(IkReal(new_r01),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x721.valid){
continue;
}
IkReal x720=x721.value;
j3array[0]=((-1.0)*x720);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x720)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[1];
evalcond[0]=(((new_r01*(IKsin(j3))))+(((-1.0)*new_r11*(IKcos(j3)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
new_r01=0;
new_r10=0;
j3eval[0]=new_r11;
j3eval[1]=IKsign(new_r11);
j3eval[2]=((IKabs(cj5))+(IKabs(sj5)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=1.0;
j4=0;
new_r01=0;
new_r10=0;
j3eval[0]=new_r00;
j3eval[1]=((IKabs(cj5))+(IKabs(sj5)));
j3eval[2]=IKsign(new_r00);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
sj4=0;
cj4=1.0;
j4=0;
new_r01=0;
new_r10=0;
j3eval[0]=new_r00;
j3eval[1]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x722=IKPowWithIntegerCheck(new_r00,-1);
if(!x722.valid){
continue;
}
CheckValue<IkReal> x723=IKPowWithIntegerCheck(new_r11,-1);
if(!x723.valid){
continue;
}
if( IKabs(((-1.0)*sj5*(x722.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((cj5*(x723.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*sj5*(x722.value)))+IKsqr((cj5*(x723.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*sj5*(x722.value)), (cj5*(x723.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x724=IKsin(j3);
IkReal x725=IKcos(j3);
IkReal x726=(sj5*x724);
IkReal x727=((1.0)*x725);
IkReal x728=(cj5*x727);
evalcond[0]=(sj5+((new_r00*x724)));
evalcond[1]=(sj5+((new_r11*x724)));
evalcond[2]=(cj5+(((-1.0)*new_r11*x727)));
evalcond[3]=(((new_r00*x725))+(((-1.0)*cj5)));
evalcond[4]=(((cj5*x724))+((sj5*x725)));
evalcond[5]=((((-1.0)*x728))+x726+new_r00);
evalcond[6]=((((-1.0)*x728))+x726+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x729=IKPowWithIntegerCheck(IKsign(new_r00),-1);
if(!x729.valid){
continue;
}
CheckValue<IkReal> x730 = IKatan2WithCheck(IkReal(((-1.0)*sj5)),IkReal(cj5),IKFAST_ATAN2_MAGTHRESH);
if(!x730.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x729.value)))+(x730.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x731=IKsin(j3);
IkReal x732=IKcos(j3);
IkReal x733=(sj5*x731);
IkReal x734=((1.0)*x732);
IkReal x735=(cj5*x734);
evalcond[0]=(sj5+((new_r00*x731)));
evalcond[1]=(sj5+((new_r11*x731)));
evalcond[2]=(cj5+(((-1.0)*new_r11*x734)));
evalcond[3]=(((new_r00*x732))+(((-1.0)*cj5)));
evalcond[4]=(((cj5*x731))+((sj5*x732)));
evalcond[5]=((((-1.0)*x735))+x733+new_r00);
evalcond[6]=((((-1.0)*x735))+x733+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x736=IKPowWithIntegerCheck(IKsign(new_r11),-1);
if(!x736.valid){
continue;
}
CheckValue<IkReal> x737 = IKatan2WithCheck(IkReal(((-1.0)*sj5)),IkReal(cj5),IKFAST_ATAN2_MAGTHRESH);
if(!x737.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x736.value)))+(x737.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x738=IKsin(j3);
IkReal x739=IKcos(j3);
IkReal x740=(sj5*x738);
IkReal x741=((1.0)*x739);
IkReal x742=(cj5*x741);
evalcond[0]=(sj5+((new_r00*x738)));
evalcond[1]=(sj5+((new_r11*x738)));
evalcond[2]=(cj5+(((-1.0)*new_r11*x741)));
evalcond[3]=(((new_r00*x739))+(((-1.0)*cj5)));
evalcond[4]=(((cj5*x738))+((sj5*x739)));
evalcond[5]=(x740+new_r00+(((-1.0)*x742)));
evalcond[6]=(x740+new_r11+(((-1.0)*x742)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x743=((1.0)*new_r11);
CheckValue<IkReal> x744 = IKatan2WithCheck(IkReal((((new_r00*new_r01))+((cj5*sj5)))),IkReal(((1.0)+(((-1.0)*new_r00*x743))+(((-1.0)*(cj5*cj5))))),IKFAST_ATAN2_MAGTHRESH);
if(!x744.valid){
continue;
}
CheckValue<IkReal> x745=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r01*sj5))+(((-1.0)*cj5*x743)))),-1);
if(!x745.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x744.value)+(((1.5707963267949)*(x745.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x746=IKcos(j3);
IkReal x747=IKsin(j3);
IkReal x748=(sj5*x747);
IkReal x749=(cj5*x747);
IkReal x750=(sj5*x746);
IkReal x751=((1.0)*x746);
IkReal x752=(cj5*x751);
evalcond[0]=(sj5+((new_r01*x746))+((new_r11*x747)));
evalcond[1]=(x750+x749+new_r01);
evalcond[2]=(sj5+(((-1.0)*new_r10*x751))+((new_r00*x747)));
evalcond[3]=(cj5+(((-1.0)*new_r11*x751))+((new_r01*x747)));
evalcond[4]=(x748+new_r00+(((-1.0)*x752)));
evalcond[5]=(x748+new_r11+(((-1.0)*x752)));
evalcond[6]=(((new_r10*x747))+((new_r00*x746))+(((-1.0)*cj5)));
evalcond[7]=((((-1.0)*x750))+(((-1.0)*x749))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x753 = IKatan2WithCheck(IkReal((((new_r11*sj5))+((cj5*new_r01)))),IkReal((((new_r01*sj5))+(((-1.0)*cj5*new_r11)))),IKFAST_ATAN2_MAGTHRESH);
if(!x753.valid){
continue;
}
CheckValue<IkReal> x754=IKPowWithIntegerCheck(IKsign(((((-1.0)*(new_r01*new_r01)))+(((-1.0)*(new_r11*new_r11))))),-1);
if(!x754.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x753.value)+(((1.5707963267949)*(x754.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x755=IKcos(j3);
IkReal x756=IKsin(j3);
IkReal x757=(sj5*x756);
IkReal x758=(cj5*x756);
IkReal x759=(sj5*x755);
IkReal x760=((1.0)*x755);
IkReal x761=(cj5*x760);
evalcond[0]=(sj5+((new_r11*x756))+((new_r01*x755)));
evalcond[1]=(x759+x758+new_r01);
evalcond[2]=(sj5+(((-1.0)*new_r10*x760))+((new_r00*x756)));
evalcond[3]=(cj5+(((-1.0)*new_r11*x760))+((new_r01*x756)));
evalcond[4]=((((-1.0)*x761))+x757+new_r00);
evalcond[5]=((((-1.0)*x761))+x757+new_r11);
evalcond[6]=(((new_r00*x755))+((new_r10*x756))+(((-1.0)*cj5)));
evalcond[7]=((((-1.0)*x759))+(((-1.0)*x758))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x762=((1.0)*new_r11);
CheckValue<IkReal> x763 = IKatan2WithCheck(IkReal((((new_r10*sj5))+((new_r01*sj5)))),IkReal((((new_r00*sj5))+(((-1.0)*sj5*x762)))),IKFAST_ATAN2_MAGTHRESH);
if(!x763.valid){
continue;
}
CheckValue<IkReal> x764=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r10*x762))+(((-1.0)*new_r00*new_r01)))),-1);
if(!x764.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x763.value)+(((1.5707963267949)*(x764.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x765=IKcos(j3);
IkReal x766=IKsin(j3);
IkReal x767=(sj5*x766);
IkReal x768=(cj5*x766);
IkReal x769=(sj5*x765);
IkReal x770=((1.0)*x765);
IkReal x771=(cj5*x770);
evalcond[0]=(sj5+((new_r11*x766))+((new_r01*x765)));
evalcond[1]=(x768+x769+new_r01);
evalcond[2]=(sj5+((new_r00*x766))+(((-1.0)*new_r10*x770)));
evalcond[3]=(cj5+((new_r01*x766))+(((-1.0)*new_r11*x770)));
evalcond[4]=(x767+(((-1.0)*x771))+new_r00);
evalcond[5]=(x767+(((-1.0)*x771))+new_r11);
evalcond[6]=(((new_r10*x766))+((new_r00*x765))+(((-1.0)*cj5)));
evalcond[7]=((((-1.0)*x769))+(((-1.0)*x768))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j4)))), 6.28318530717959)));
evalcond[1]=new_r02;
evalcond[2]=new_r12;
evalcond[3]=new_r21;
evalcond[4]=new_r20;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  && IKabs(evalcond[2]) < 0.0000050000000000  && IKabs(evalcond[3]) < 0.0000050000000000  && IKabs(evalcond[4]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
IkReal x772=((1.0)*new_r10);
IkReal x773=((((-1.0)*new_r11*x772))+(((-1.0)*new_r00*new_r01)));
j3eval[0]=x773;
j3eval[1]=((IKabs((((cj5*new_r11))+((cj5*new_r00)))))+(IKabs((((cj5*new_r01))+(((-1.0)*cj5*x772))))));
j3eval[2]=IKsign(x773);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
IkReal x774=((1.0)*new_r10);
IkReal x775=((((-1.0)*cj5*new_r00))+(((-1.0)*sj5*x774)));
j3eval[0]=x775;
j3eval[1]=IKsign(x775);
j3eval[2]=((IKabs((((new_r00*new_r01))+((cj5*sj5)))))+(IKabs(((((-1.0)*new_r01*x774))+(cj5*cj5)))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
IkReal x776=((1.0)*new_r00);
IkReal x777=((((-1.0)*sj5*x776))+((cj5*new_r10)));
j3eval[0]=x777;
j3eval[1]=((IKabs((((cj5*sj5))+(((-1.0)*new_r10*x776)))))+(IKabs(((((-1.0)*(cj5*cj5)))+(new_r00*new_r00)))));
j3eval[2]=IKsign(x777);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal evalcond[1];
bool bgotonextstatement = true;
do
{
IkReal x778=((-1.0)*new_r00);
IkReal x780 = ((new_r10*new_r10)+(new_r00*new_r00));
if(IKabs(x780)==0){
continue;
}
IkReal x779=pow(x780,-0.5);
CheckValue<IkReal> x781 = IKatan2WithCheck(IkReal(new_r10),IkReal(x778),IKFAST_ATAN2_MAGTHRESH);
if(!x781.valid){
continue;
}
IkReal gconst6=((-1.0)*(x781.value));
IkReal gconst7=((-1.0)*new_r10*x779);
IkReal gconst8=(x778*x779);
CheckValue<IkReal> x782 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x782.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs((j5+(x782.value))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x783=((-1.0)*new_r00);
CheckValue<IkReal> x786 = IKatan2WithCheck(IkReal(new_r10),IkReal(x783),IKFAST_ATAN2_MAGTHRESH);
if(!x786.valid){
continue;
}
IkReal x784=((-1.0)*(x786.value));
IkReal x785=x779;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x784;
IkReal gconst6=x784;
IkReal gconst7=((-1.0)*new_r10*x785);
IkReal gconst8=(x783*x785);
IkReal x787=new_r00*new_r00;
IkReal x788=((1.0)*new_r11);
IkReal x789=((1.0)*new_r00*new_r01);
IkReal x790=((((-1.0)*x789))+(((-1.0)*new_r10*x788)));
IkReal x791=x779;
IkReal x792=(new_r00*x791);
j3eval[0]=x790;
j3eval[1]=((IKabs(((((-1.0)*x788*x792))+(((-1.0)*x787*x791)))))+(IKabs((((new_r10*x792))+(((-1.0)*x789*x791))))));
j3eval[2]=IKsign(x790);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x793=((-1.0)*new_r00);
CheckValue<IkReal> x796 = IKatan2WithCheck(IkReal(new_r10),IkReal(x793),IKFAST_ATAN2_MAGTHRESH);
if(!x796.valid){
continue;
}
IkReal x794=((-1.0)*(x796.value));
IkReal x795=x779;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x794;
IkReal gconst6=x794;
IkReal gconst7=((-1.0)*new_r10*x795);
IkReal gconst8=(x793*x795);
IkReal x797=new_r10*new_r10;
IkReal x798=new_r00*new_r00;
CheckValue<IkReal> x801=IKPowWithIntegerCheck((x797+x798),-1);
if(!x801.valid){
continue;
}
IkReal x799=x801.value;
IkReal x800=(new_r00*x799);
j3eval[0]=((IKabs((((new_r01*x797*x800))+((new_r10*x800))+((new_r01*x800*(new_r00*new_r00))))))+(IKabs((((x798*x799))+(((-1.0)*new_r01*new_r10))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x802=((-1.0)*new_r00);
CheckValue<IkReal> x805 = IKatan2WithCheck(IkReal(new_r10),IkReal(x802),IKFAST_ATAN2_MAGTHRESH);
if(!x805.valid){
continue;
}
IkReal x803=((-1.0)*(x805.value));
IkReal x804=x779;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x803;
IkReal gconst6=x803;
IkReal gconst7=((-1.0)*new_r10*x804);
IkReal gconst8=(x802*x804);
IkReal x806=new_r00*new_r00;
IkReal x807=new_r10*new_r10;
CheckValue<IkReal> x811=IKPowWithIntegerCheck((x807+x806),-1);
if(!x811.valid){
continue;
}
IkReal x808=x811.value;
IkReal x809=(new_r10*x808);
IkReal x810=((1.0)*x808);
j3eval[0]=((IKabs((((new_r00*x809*(new_r10*new_r10)))+((new_r00*x809))+((x809*(new_r00*new_r00*new_r00))))))+(IKabs((((x806*x808))+(((-1.0)*x810*(x807*x807)))+(((-1.0)*x806*x807*x810))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[2];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x813 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x813.valid){
continue;
}
IkReal x812=((-1.0)*(x813.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x812;
new_r11=0;
new_r00=0;
IkReal gconst6=x812;
IkReal x814 = new_r10*new_r10;
if(IKabs(x814)==0){
continue;
}
IkReal gconst7=((-1.0)*new_r10*(pow(x814,-0.5)));
IkReal gconst8=0;
j3eval[0]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x815=IKPowWithIntegerCheck(gconst7,-1);
if(!x815.valid){
continue;
}
cj3array[0]=(new_r01*(x815.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x816=IKsin(j3);
IkReal x817=IKcos(j3);
IkReal x818=((1.0)*gconst7);
evalcond[0]=(new_r01*x816);
evalcond[1]=(new_r10*x816);
evalcond[2]=(gconst7*x816);
evalcond[3]=((((-1.0)*new_r10*x817))+gconst7);
evalcond[4]=((((-1.0)*x817*x818))+new_r10);
evalcond[5]=(((new_r01*x817))+(((-1.0)*x818)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x819=IKPowWithIntegerCheck(new_r10,-1);
if(!x819.valid){
continue;
}
cj3array[0]=(gconst7*(x819.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x820=IKsin(j3);
IkReal x821=IKcos(j3);
IkReal x822=((1.0)*gconst7);
IkReal x823=(x821*x822);
evalcond[0]=(new_r01*x820);
evalcond[1]=(new_r10*x820);
evalcond[2]=(gconst7*x820);
evalcond[3]=((((-1.0)*x823))+new_r01);
evalcond[4]=((((-1.0)*x823))+new_r10);
evalcond[5]=(((new_r01*x821))+(((-1.0)*x822)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
evalcond[1]=gconst8;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x824=((-1.0)*new_r00);
CheckValue<IkReal> x826 = IKatan2WithCheck(IkReal(new_r10),IkReal(x824),IKFAST_ATAN2_MAGTHRESH);
if(!x826.valid){
continue;
}
IkReal x825=((-1.0)*(x826.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x825;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst6=x825;
IkReal gconst7=((-1.0)*new_r10);
IkReal gconst8=x824;
j3eval[0]=1.0;
j3eval[1]=1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs((new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x827=((-1.0)*new_r00);
CheckValue<IkReal> x829 = IKatan2WithCheck(IkReal(new_r10),IkReal(x827),IKFAST_ATAN2_MAGTHRESH);
if(!x829.valid){
continue;
}
IkReal x828=((-1.0)*(x829.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x828;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst6=x828;
IkReal gconst7=((-1.0)*new_r10);
IkReal gconst8=x827;
j3eval[0]=-1.0;
j3eval[1]=((IKabs(((-1.0)+(new_r10*new_r10))))+(IKabs((new_r00*new_r10))));
j3eval[2]=-1.0;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x830=((-1.0)*new_r00);
CheckValue<IkReal> x832 = IKatan2WithCheck(IkReal(new_r10),IkReal(x830),IKFAST_ATAN2_MAGTHRESH);
if(!x832.valid){
continue;
}
IkReal x831=((-1.0)*(x832.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x831;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst6=x831;
IkReal gconst7=((-1.0)*new_r10);
IkReal gconst8=x830;
j3eval[0]=1.0;
j3eval[1]=((((0.5)*(IKabs(((1.0)+(((-2.0)*(new_r10*new_r10))))))))+(IKabs((new_r00*new_r10))));
j3eval[2]=1.0;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x833=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst7*new_r10))+(((-1.0)*gconst8*new_r00)))),-1);
if(!x833.valid){
continue;
}
CheckValue<IkReal> x834 = IKatan2WithCheck(IkReal((((new_r00*new_r10))+((gconst7*gconst8)))),IkReal(((gconst8*gconst8)+(((-1.0)*(new_r10*new_r10))))),IKFAST_ATAN2_MAGTHRESH);
if(!x834.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x833.value)))+(x834.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x835=IKsin(j3);
IkReal x836=IKcos(j3);
IkReal x837=(gconst8*x835);
IkReal x838=(gconst7*x835);
IkReal x839=(gconst8*x836);
IkReal x840=((1.0)*x836);
IkReal x841=(gconst7*x840);
evalcond[0]=((((-1.0)*x841))+x837);
evalcond[1]=(gconst8+((new_r00*x836))+((new_r10*x835)));
evalcond[2]=(new_r00+x838+x839);
evalcond[3]=((((-1.0)*new_r10*x840))+gconst7+((new_r00*x835)));
evalcond[4]=((((-1.0)*x838))+(((-1.0)*x839)));
evalcond[5]=((((-1.0)*x841))+new_r10+x837);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x842 = IKatan2WithCheck(IkReal((gconst7*new_r00)),IkReal((gconst8*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x842.valid){
continue;
}
CheckValue<IkReal> x843=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst8*gconst8)))+(((-1.0)*(gconst7*gconst7))))),-1);
if(!x843.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x842.value)+(((1.5707963267949)*(x843.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x844=IKsin(j3);
IkReal x845=IKcos(j3);
IkReal x846=(gconst8*x844);
IkReal x847=(gconst7*x844);
IkReal x848=(gconst8*x845);
IkReal x849=((1.0)*x845);
IkReal x850=(gconst7*x849);
evalcond[0]=((((-1.0)*x850))+x846);
evalcond[1]=(((new_r10*x844))+gconst8+((new_r00*x845)));
evalcond[2]=(new_r00+x847+x848);
evalcond[3]=((((-1.0)*new_r10*x849))+gconst7+((new_r00*x844)));
evalcond[4]=((((-1.0)*x848))+(((-1.0)*x847)));
evalcond[5]=((((-1.0)*x850))+new_r10+x846);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x851 = IKatan2WithCheck(IkReal((gconst7*gconst8)),IkReal(gconst8*gconst8),IKFAST_ATAN2_MAGTHRESH);
if(!x851.valid){
continue;
}
CheckValue<IkReal> x852=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst7*new_r10))+(((-1.0)*gconst8*new_r00)))),-1);
if(!x852.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x851.value)+(((1.5707963267949)*(x852.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x853=IKsin(j3);
IkReal x854=IKcos(j3);
IkReal x855=(gconst8*x853);
IkReal x856=(gconst7*x853);
IkReal x857=(gconst8*x854);
IkReal x858=((1.0)*x854);
IkReal x859=(gconst7*x858);
evalcond[0]=((((-1.0)*x859))+x855);
evalcond[1]=(gconst8+((new_r10*x853))+((new_r00*x854)));
evalcond[2]=(new_r00+x856+x857);
evalcond[3]=(gconst7+(((-1.0)*new_r10*x858))+((new_r00*x853)));
evalcond[4]=((((-1.0)*x856))+(((-1.0)*x857)));
evalcond[5]=((((-1.0)*x859))+new_r10+x855);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x860=((-1.0)*new_r00);
CheckValue<IkReal> x862 = IKatan2WithCheck(IkReal(0),IkReal(x860),IKFAST_ATAN2_MAGTHRESH);
if(!x862.valid){
continue;
}
IkReal x861=((-1.0)*(x862.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x861;
new_r01=0;
new_r10=0;
IkReal gconst6=x861;
IkReal gconst7=0;
IkReal x863 = new_r00*new_r00;
if(IKabs(x863)==0){
continue;
}
IkReal gconst8=(x860*(pow(x863,-0.5)));
j3eval[0]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x864=IKPowWithIntegerCheck(gconst8,-1);
if(!x864.valid){
continue;
}
cj3array[0]=(new_r11*(x864.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x865=IKsin(j3);
IkReal x866=IKcos(j3);
evalcond[0]=(new_r00*x865);
evalcond[1]=(new_r11*x865);
evalcond[2]=(gconst8*x865);
evalcond[3]=(((new_r00*x866))+gconst8);
evalcond[4]=(((gconst8*x866))+new_r00);
evalcond[5]=(gconst8+(((-1.0)*new_r11*x866)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x867=IKPowWithIntegerCheck(new_r11,-1);
if(!x867.valid){
continue;
}
cj3array[0]=(gconst8*(x867.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x868=IKsin(j3);
IkReal x869=IKcos(j3);
IkReal x870=(gconst8*x869);
evalcond[0]=(new_r00*x868);
evalcond[1]=(new_r11*x868);
evalcond[2]=(gconst8*x868);
evalcond[3]=(((new_r00*x869))+gconst8);
evalcond[4]=(new_r00+x870);
evalcond[5]=((((-1.0)*x870))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r00);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x872 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x872.valid){
continue;
}
IkReal x871=((-1.0)*(x872.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x871;
new_r00=0;
IkReal gconst6=x871;
IkReal x873 = new_r10*new_r10;
if(IKabs(x873)==0){
continue;
}
IkReal gconst7=((-1.0)*new_r10*(pow(x873,-0.5)));
IkReal gconst8=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x875 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x875.valid){
continue;
}
IkReal x874=((-1.0)*(x875.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x874;
new_r00=0;
IkReal gconst6=x874;
IkReal x876 = new_r10*new_r10;
if(IKabs(x876)==0){
continue;
}
IkReal gconst7=((-1.0)*new_r10*(pow(x876,-0.5)));
IkReal gconst8=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x878 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x878.valid){
continue;
}
IkReal x877=((-1.0)*(x878.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst7;
cj5=gconst8;
j5=x877;
new_r00=0;
IkReal gconst6=x877;
IkReal x879 = new_r10*new_r10;
if(IKabs(x879)==0){
continue;
}
IkReal gconst7=((-1.0)*new_r10*(pow(x879,-0.5)));
IkReal gconst8=0;
j3eval[0]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x880=IKPowWithIntegerCheck(gconst7,-1);
if(!x880.valid){
continue;
}
CheckValue<IkReal> x881=IKPowWithIntegerCheck(new_r10,-1);
if(!x881.valid){
continue;
}
if( IKabs((new_r11*(x880.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((gconst7*(x881.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((new_r11*(x880.value)))+IKsqr((gconst7*(x881.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2((new_r11*(x880.value)), (gconst7*(x881.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x882=IKsin(j3);
IkReal x883=IKcos(j3);
IkReal x884=((1.0)*gconst7);
IkReal x885=((1.0)*x883);
IkReal x886=(x883*x884);
evalcond[0]=(new_r10*x882);
evalcond[1]=(gconst7*x882);
evalcond[2]=((((-1.0)*new_r10*x885))+gconst7);
evalcond[3]=((((-1.0)*x886))+new_r01);
evalcond[4]=((((-1.0)*x882*x884))+new_r11);
evalcond[5]=((((-1.0)*x886))+new_r10);
evalcond[6]=(((new_r01*x882))+(((-1.0)*new_r11*x885)));
evalcond[7]=(((new_r01*x883))+((new_r11*x882))+(((-1.0)*x884)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x887=IKPowWithIntegerCheck(IKsign(gconst7),-1);
if(!x887.valid){
continue;
}
CheckValue<IkReal> x888 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r10),IKFAST_ATAN2_MAGTHRESH);
if(!x888.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x887.value)))+(x888.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x889=IKsin(j3);
IkReal x890=IKcos(j3);
IkReal x891=((1.0)*gconst7);
IkReal x892=((1.0)*x890);
IkReal x893=(x890*x891);
evalcond[0]=(new_r10*x889);
evalcond[1]=(gconst7*x889);
evalcond[2]=(gconst7+(((-1.0)*new_r10*x892)));
evalcond[3]=((((-1.0)*x893))+new_r01);
evalcond[4]=((((-1.0)*x889*x891))+new_r11);
evalcond[5]=((((-1.0)*x893))+new_r10);
evalcond[6]=(((new_r01*x889))+(((-1.0)*new_r11*x892)));
evalcond[7]=(((new_r11*x889))+((new_r01*x890))+(((-1.0)*x891)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x894=IKPowWithIntegerCheck(IKsign(gconst7),-1);
if(!x894.valid){
continue;
}
CheckValue<IkReal> x895 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x895.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x894.value)))+(x895.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x896=IKsin(j3);
IkReal x897=IKcos(j3);
IkReal x898=((1.0)*gconst7);
IkReal x899=((1.0)*x897);
IkReal x900=(x897*x898);
evalcond[0]=(new_r10*x896);
evalcond[1]=(gconst7*x896);
evalcond[2]=(gconst7+(((-1.0)*new_r10*x899)));
evalcond[3]=((((-1.0)*x900))+new_r01);
evalcond[4]=((((-1.0)*x896*x898))+new_r11);
evalcond[5]=((((-1.0)*x900))+new_r10);
evalcond[6]=(((new_r01*x896))+(((-1.0)*new_r11*x899)));
evalcond[7]=(((new_r11*x896))+((new_r01*x897))+(((-1.0)*x898)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x901=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst7*new_r10))+(((-1.0)*gconst8*new_r00)))),-1);
if(!x901.valid){
continue;
}
CheckValue<IkReal> x902 = IKatan2WithCheck(IkReal((((new_r00*new_r10))+((gconst7*gconst8)))),IkReal(((gconst8*gconst8)+(((-1.0)*(new_r10*new_r10))))),IKFAST_ATAN2_MAGTHRESH);
if(!x902.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x901.value)))+(x902.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x903=IKcos(j3);
IkReal x904=IKsin(j3);
IkReal x905=(gconst8*x904);
IkReal x906=(gconst7*x904);
IkReal x907=((1.0)*x903);
IkReal x908=(gconst7*x907);
evalcond[0]=(gconst8+((new_r10*x904))+((new_r00*x903)));
evalcond[1]=(new_r00+((gconst8*x903))+x906);
evalcond[2]=(gconst7+((new_r00*x904))+(((-1.0)*new_r10*x907)));
evalcond[3]=((((-1.0)*new_r11*x907))+gconst8+((new_r01*x904)));
evalcond[4]=((((-1.0)*x908))+new_r01+x905);
evalcond[5]=((((-1.0)*x908))+new_r10+x905);
evalcond[6]=((((-1.0)*gconst7))+((new_r11*x904))+((new_r01*x903)));
evalcond[7]=((((-1.0)*gconst8*x907))+(((-1.0)*x906))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x909=((1.0)*new_r10);
CheckValue<IkReal> x910=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst7*x909))+(((-1.0)*gconst8*new_r00)))),-1);
if(!x910.valid){
continue;
}
CheckValue<IkReal> x911 = IKatan2WithCheck(IkReal((((new_r00*new_r01))+((gconst7*gconst8)))),IkReal(((gconst8*gconst8)+(((-1.0)*new_r01*x909)))),IKFAST_ATAN2_MAGTHRESH);
if(!x911.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x910.value)))+(x911.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x912=IKcos(j3);
IkReal x913=IKsin(j3);
IkReal x914=(gconst8*x913);
IkReal x915=(gconst7*x913);
IkReal x916=((1.0)*x912);
IkReal x917=(gconst7*x916);
evalcond[0]=(gconst8+((new_r10*x913))+((new_r00*x912)));
evalcond[1]=(((gconst8*x912))+new_r00+x915);
evalcond[2]=(gconst7+((new_r00*x913))+(((-1.0)*new_r10*x916)));
evalcond[3]=(gconst8+((new_r01*x913))+(((-1.0)*new_r11*x916)));
evalcond[4]=((((-1.0)*x917))+new_r01+x914);
evalcond[5]=((((-1.0)*x917))+new_r10+x914);
evalcond[6]=(((new_r11*x913))+(((-1.0)*gconst7))+((new_r01*x912)));
evalcond[7]=((((-1.0)*gconst8*x916))+(((-1.0)*x915))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x918=((1.0)*new_r10);
CheckValue<IkReal> x919 = IKatan2WithCheck(IkReal((((gconst8*new_r11))+((gconst8*new_r00)))),IkReal((((gconst8*new_r01))+(((-1.0)*gconst8*x918)))),IKFAST_ATAN2_MAGTHRESH);
if(!x919.valid){
continue;
}
CheckValue<IkReal> x920=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r00*new_r01))+(((-1.0)*new_r11*x918)))),-1);
if(!x920.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x919.value)+(((1.5707963267949)*(x920.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x921=IKcos(j3);
IkReal x922=IKsin(j3);
IkReal x923=(gconst8*x922);
IkReal x924=(gconst7*x922);
IkReal x925=((1.0)*x921);
IkReal x926=(gconst7*x925);
evalcond[0]=(gconst8+((new_r00*x921))+((new_r10*x922)));
evalcond[1]=(((gconst8*x921))+new_r00+x924);
evalcond[2]=(gconst7+(((-1.0)*new_r10*x925))+((new_r00*x922)));
evalcond[3]=((((-1.0)*new_r11*x925))+gconst8+((new_r01*x922)));
evalcond[4]=((((-1.0)*x926))+new_r01+x923);
evalcond[5]=((((-1.0)*x926))+new_r10+x923);
evalcond[6]=((((-1.0)*gconst7))+((new_r01*x921))+((new_r11*x922)));
evalcond[7]=((((-1.0)*gconst8*x925))+(((-1.0)*x924))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x929 = ((new_r10*new_r10)+(new_r00*new_r00));
if(IKabs(x929)==0){
continue;
}
IkReal x927=pow(x929,-0.5);
IkReal x928=((1.0)*x927);
CheckValue<IkReal> x930 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x930.valid){
continue;
}
IkReal gconst9=((3.14159265358979)+(((-1.0)*(x930.value))));
IkReal gconst10=(new_r10*x928);
IkReal gconst11=(new_r00*x928);
CheckValue<IkReal> x931 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x931.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+j5+(x931.value))))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
CheckValue<IkReal> x935 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x935.valid){
continue;
}
IkReal x932=((1.0)*(x935.value));
IkReal x933=x927;
IkReal x934=((1.0)*x933);
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x932)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x932)));
IkReal gconst10=(new_r10*x934);
IkReal gconst11=(new_r00*x934);
IkReal x936=new_r00*new_r00;
IkReal x937=((1.0)*new_r00);
IkReal x938=((((-1.0)*new_r01*x937))+(((-1.0)*new_r10*new_r11)));
IkReal x939=x927;
IkReal x940=(new_r00*x939);
j3eval[0]=x938;
j3eval[1]=((IKabs((((new_r01*x940))+(((-1.0)*new_r10*x937*x939)))))+(IKabs((((x936*x939))+((new_r11*x940))))));
j3eval[2]=IKsign(x938);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x944 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x944.valid){
continue;
}
IkReal x941=((1.0)*(x944.value));
IkReal x942=x927;
IkReal x943=((1.0)*x942);
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x941)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x941)));
IkReal gconst10=(new_r10*x943);
IkReal gconst11=(new_r00*x943);
IkReal x945=new_r10*new_r10;
IkReal x946=new_r00*new_r00;
IkReal x947=((1.0)*new_r01);
CheckValue<IkReal> x951=IKPowWithIntegerCheck((x945+x946),-1);
if(!x951.valid){
continue;
}
IkReal x948=x951.value;
IkReal x949=(new_r10*x948);
IkReal x950=(new_r01*x948);
j3eval[0]=((IKabs((((new_r00*x949))+((new_r00*x945*x950))+((x950*(new_r00*new_r00*new_r00))))))+(IKabs((((x946*x948))+(((-1.0)*x947*x949*(new_r10*new_r10)))+(((-1.0)*x946*x947*x949))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x955 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x955.valid){
continue;
}
IkReal x952=((1.0)*(x955.value));
IkReal x953=x927;
IkReal x954=((1.0)*x953);
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x952)));
IkReal gconst9=((3.14159265358979)+(((-1.0)*x952)));
IkReal gconst10=(new_r10*x954);
IkReal gconst11=(new_r00*x954);
IkReal x956=new_r00*new_r00;
IkReal x957=new_r10*new_r10;
CheckValue<IkReal> x961=IKPowWithIntegerCheck((x957+x956),-1);
if(!x961.valid){
continue;
}
IkReal x958=x961.value;
IkReal x959=(new_r10*x958);
IkReal x960=((1.0)*x958);
j3eval[0]=((IKabs(((((-1.0)*x956*x957*x960))+((x956*x958))+(((-1.0)*x960*(x957*x957))))))+(IKabs((((new_r00*x959))+((x959*(new_r00*new_r00*new_r00)))+((new_r00*x959*(new_r10*new_r10)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[2];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x963 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x963.valid){
continue;
}
IkReal x962=((1.0)*(x963.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x962)));
new_r11=0;
new_r00=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x962)));
IkReal x964 = new_r10*new_r10;
if(IKabs(x964)==0){
continue;
}
IkReal gconst10=((1.0)*new_r10*(pow(x964,-0.5)));
IkReal gconst11=0;
j3eval[0]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x965=IKPowWithIntegerCheck(gconst10,-1);
if(!x965.valid){
continue;
}
cj3array[0]=(new_r01*(x965.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x966=IKsin(j3);
IkReal x967=IKcos(j3);
IkReal x968=((1.0)*gconst10);
evalcond[0]=(new_r01*x966);
evalcond[1]=(new_r10*x966);
evalcond[2]=(gconst10*x966);
evalcond[3]=(gconst10+(((-1.0)*new_r10*x967)));
evalcond[4]=((((-1.0)*x967*x968))+new_r10);
evalcond[5]=(((new_r01*x967))+(((-1.0)*x968)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x969=IKPowWithIntegerCheck(new_r10,-1);
if(!x969.valid){
continue;
}
cj3array[0]=(gconst10*(x969.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x970=IKsin(j3);
IkReal x971=IKcos(j3);
IkReal x972=((1.0)*gconst10);
IkReal x973=(x971*x972);
evalcond[0]=(new_r01*x970);
evalcond[1]=(new_r10*x970);
evalcond[2]=(gconst10*x970);
evalcond[3]=(new_r01+(((-1.0)*x973)));
evalcond[4]=(new_r10+(((-1.0)*x973)));
evalcond[5]=(((new_r01*x971))+(((-1.0)*x972)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
evalcond[1]=gconst11;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
CheckValue<IkReal> x975 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x975.valid){
continue;
}
IkReal x974=((1.0)*(x975.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x974)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x974)));
IkReal gconst10=((1.0)*new_r10);
IkReal gconst11=((1.0)*new_r00);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs(((1.0)*new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
CheckValue<IkReal> x977 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x977.valid){
continue;
}
IkReal x976=((1.0)*(x977.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x976)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x976)));
IkReal gconst10=((1.0)*new_r10);
IkReal gconst11=((1.0)*new_r00);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs(((1.0)*new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
CheckValue<IkReal> x979 = IKatan2WithCheck(IkReal(new_r10),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x979.valid){
continue;
}
IkReal x978=((1.0)*(x979.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x978)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x978)));
IkReal gconst10=((1.0)*new_r10);
IkReal gconst11=((1.0)*new_r00);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)+(((-2.0)*(new_r10*new_r10))))))+(IKabs(((2.0)*new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x980 = IKatan2WithCheck(IkReal((((gconst10*gconst11))+((new_r00*new_r10)))),IkReal(((((-1.0)*(new_r10*new_r10)))+(gconst11*gconst11))),IKFAST_ATAN2_MAGTHRESH);
if(!x980.valid){
continue;
}
CheckValue<IkReal> x981=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst10*new_r10))+(((-1.0)*gconst11*new_r00)))),-1);
if(!x981.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x980.value)+(((1.5707963267949)*(x981.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x982=IKsin(j3);
IkReal x983=IKcos(j3);
IkReal x984=(gconst11*x982);
IkReal x985=(gconst10*x982);
IkReal x986=(gconst11*x983);
IkReal x987=((1.0)*x983);
IkReal x988=(gconst10*x987);
evalcond[0]=((((-1.0)*x988))+x984);
evalcond[1]=(((new_r00*x983))+gconst11+((new_r10*x982)));
evalcond[2]=(new_r00+x985+x986);
evalcond[3]=(((new_r00*x982))+gconst10+(((-1.0)*new_r10*x987)));
evalcond[4]=((((-1.0)*x985))+(((-1.0)*x986)));
evalcond[5]=((((-1.0)*x988))+new_r10+x984);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x989=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst11*gconst11)))+(((-1.0)*(gconst10*gconst10))))),-1);
if(!x989.valid){
continue;
}
CheckValue<IkReal> x990 = IKatan2WithCheck(IkReal((gconst10*new_r00)),IkReal((gconst11*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x990.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x989.value)))+(x990.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x991=IKsin(j3);
IkReal x992=IKcos(j3);
IkReal x993=(gconst11*x991);
IkReal x994=(gconst10*x991);
IkReal x995=(gconst11*x992);
IkReal x996=((1.0)*x992);
IkReal x997=(gconst10*x996);
evalcond[0]=((((-1.0)*x997))+x993);
evalcond[1]=(((new_r10*x991))+gconst11+((new_r00*x992)));
evalcond[2]=(new_r00+x995+x994);
evalcond[3]=((((-1.0)*new_r10*x996))+gconst10+((new_r00*x991)));
evalcond[4]=((((-1.0)*x994))+(((-1.0)*x995)));
evalcond[5]=((((-1.0)*x997))+new_r10+x993);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x998 = IKatan2WithCheck(IkReal((gconst10*gconst11)),IkReal(gconst11*gconst11),IKFAST_ATAN2_MAGTHRESH);
if(!x998.valid){
continue;
}
CheckValue<IkReal> x999=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst10*new_r10))+(((-1.0)*gconst11*new_r00)))),-1);
if(!x999.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x998.value)+(((1.5707963267949)*(x999.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1000=IKsin(j3);
IkReal x1001=IKcos(j3);
IkReal x1002=(gconst11*x1000);
IkReal x1003=(gconst10*x1000);
IkReal x1004=(gconst11*x1001);
IkReal x1005=((1.0)*x1001);
IkReal x1006=(gconst10*x1005);
evalcond[0]=(x1002+(((-1.0)*x1006)));
evalcond[1]=(gconst11+((new_r10*x1000))+((new_r00*x1001)));
evalcond[2]=(x1004+x1003+new_r00);
evalcond[3]=(gconst10+(((-1.0)*new_r10*x1005))+((new_r00*x1000)));
evalcond[4]=((((-1.0)*x1003))+(((-1.0)*x1004)));
evalcond[5]=(x1002+(((-1.0)*x1006))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x1008 = IKatan2WithCheck(IkReal(0),IkReal(((-1.0)*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x1008.valid){
continue;
}
IkReal x1007=((1.0)*(x1008.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x1007)));
new_r01=0;
new_r10=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x1007)));
IkReal gconst10=0;
IkReal x1009 = new_r00*new_r00;
if(IKabs(x1009)==0){
continue;
}
IkReal gconst11=((1.0)*new_r00*(pow(x1009,-0.5)));
j3eval[0]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1010=IKPowWithIntegerCheck(gconst11,-1);
if(!x1010.valid){
continue;
}
cj3array[0]=(new_r11*(x1010.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1011=IKsin(j3);
IkReal x1012=IKcos(j3);
evalcond[0]=(new_r00*x1011);
evalcond[1]=(new_r11*x1011);
evalcond[2]=(gconst11*x1011);
evalcond[3]=(gconst11+((new_r00*x1012)));
evalcond[4]=(((gconst11*x1012))+new_r00);
evalcond[5]=((((-1.0)*new_r11*x1012))+gconst11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1013=IKPowWithIntegerCheck(new_r11,-1);
if(!x1013.valid){
continue;
}
cj3array[0]=(gconst11*(x1013.value));
if( cj3array[0] >= -1-IKFAST_SINCOS_THRESH && cj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKacos(cj3array[0]);
    sj3array[0] = IKsin(j3array[0]);
    cj3array[1] = cj3array[0];
    j3array[1] = -j3array[0];
    sj3array[1] = -sj3array[0];
}
else if( isnan(cj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1014=IKsin(j3);
IkReal x1015=IKcos(j3);
IkReal x1016=(gconst11*x1015);
evalcond[0]=(new_r00*x1014);
evalcond[1]=(new_r11*x1014);
evalcond[2]=(gconst11*x1014);
evalcond[3]=(gconst11+((new_r00*x1015)));
evalcond[4]=(x1016+new_r00);
evalcond[5]=(new_r11+(((-1.0)*x1016)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r00);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x1018 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1018.valid){
continue;
}
IkReal x1017=((1.0)*(x1018.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x1017)));
new_r00=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x1017)));
IkReal x1019 = new_r10*new_r10;
if(IKabs(x1019)==0){
continue;
}
IkReal gconst10=((1.0)*new_r10*(pow(x1019,-0.5)));
IkReal gconst11=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x1021 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1021.valid){
continue;
}
IkReal x1020=((1.0)*(x1021.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x1020)));
new_r00=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x1020)));
IkReal x1022 = new_r10*new_r10;
if(IKabs(x1022)==0){
continue;
}
IkReal gconst10=((1.0)*new_r10*(pow(x1022,-0.5)));
IkReal gconst11=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x1024 = IKatan2WithCheck(IkReal(new_r10),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1024.valid){
continue;
}
IkReal x1023=((1.0)*(x1024.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst10;
cj5=gconst11;
j5=((3.14159265)+(((-1.0)*x1023)));
new_r00=0;
IkReal gconst9=((3.14159265358979)+(((-1.0)*x1023)));
IkReal x1025 = new_r10*new_r10;
if(IKabs(x1025)==0){
continue;
}
IkReal gconst10=((1.0)*new_r10*(pow(x1025,-0.5)));
IkReal gconst11=0;
j3eval[0]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1026=IKPowWithIntegerCheck(gconst10,-1);
if(!x1026.valid){
continue;
}
CheckValue<IkReal> x1027=IKPowWithIntegerCheck(new_r10,-1);
if(!x1027.valid){
continue;
}
if( IKabs((new_r11*(x1026.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((gconst10*(x1027.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((new_r11*(x1026.value)))+IKsqr((gconst10*(x1027.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2((new_r11*(x1026.value)), (gconst10*(x1027.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1028=IKsin(j3);
IkReal x1029=IKcos(j3);
IkReal x1030=(gconst10*x1028);
IkReal x1031=((1.0)*x1029);
IkReal x1032=(gconst10*x1031);
evalcond[0]=(new_r10*x1028);
evalcond[1]=x1030;
evalcond[2]=(gconst10+(((-1.0)*new_r10*x1031)));
evalcond[3]=((((-1.0)*x1032))+new_r01);
evalcond[4]=((((-1.0)*x1030))+new_r11);
evalcond[5]=((((-1.0)*x1032))+new_r10);
evalcond[6]=((((-1.0)*new_r11*x1031))+((new_r01*x1028)));
evalcond[7]=(((new_r11*x1028))+(((-1.0)*gconst10))+((new_r01*x1029)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1033=IKPowWithIntegerCheck(IKsign(gconst10),-1);
if(!x1033.valid){
continue;
}
CheckValue<IkReal> x1034 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r10),IKFAST_ATAN2_MAGTHRESH);
if(!x1034.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1033.value)))+(x1034.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1035=IKsin(j3);
IkReal x1036=IKcos(j3);
IkReal x1037=(gconst10*x1035);
IkReal x1038=((1.0)*x1036);
IkReal x1039=(gconst10*x1038);
evalcond[0]=(new_r10*x1035);
evalcond[1]=x1037;
evalcond[2]=(gconst10+(((-1.0)*new_r10*x1038)));
evalcond[3]=((((-1.0)*x1039))+new_r01);
evalcond[4]=((((-1.0)*x1037))+new_r11);
evalcond[5]=((((-1.0)*x1039))+new_r10);
evalcond[6]=((((-1.0)*new_r11*x1038))+((new_r01*x1035)));
evalcond[7]=(((new_r11*x1035))+(((-1.0)*gconst10))+((new_r01*x1036)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1040=IKPowWithIntegerCheck(IKsign(gconst10),-1);
if(!x1040.valid){
continue;
}
CheckValue<IkReal> x1041 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1041.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1040.value)))+(x1041.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1042=IKsin(j3);
IkReal x1043=IKcos(j3);
IkReal x1044=(gconst10*x1042);
IkReal x1045=((1.0)*x1043);
IkReal x1046=(gconst10*x1045);
evalcond[0]=(new_r10*x1042);
evalcond[1]=x1044;
evalcond[2]=(gconst10+(((-1.0)*new_r10*x1045)));
evalcond[3]=(new_r01+(((-1.0)*x1046)));
evalcond[4]=((((-1.0)*x1044))+new_r11);
evalcond[5]=(new_r10+(((-1.0)*x1046)));
evalcond[6]=(((new_r01*x1042))+(((-1.0)*new_r11*x1045)));
evalcond[7]=(((new_r11*x1042))+((new_r01*x1043))+(((-1.0)*gconst10)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1047 = IKatan2WithCheck(IkReal((((gconst10*gconst11))+((new_r00*new_r10)))),IkReal(((((-1.0)*(new_r10*new_r10)))+(gconst11*gconst11))),IKFAST_ATAN2_MAGTHRESH);
if(!x1047.valid){
continue;
}
CheckValue<IkReal> x1048=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst10*new_r10))+(((-1.0)*gconst11*new_r00)))),-1);
if(!x1048.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1047.value)+(((1.5707963267949)*(x1048.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1049=IKcos(j3);
IkReal x1050=IKsin(j3);
IkReal x1051=((1.0)*gconst10);
IkReal x1052=(gconst11*x1050);
IkReal x1053=(gconst10*x1050);
IkReal x1054=(gconst11*x1049);
IkReal x1055=((1.0)*x1049);
IkReal x1056=(x1049*x1051);
evalcond[0]=(gconst11+((new_r00*x1049))+((new_r10*x1050)));
evalcond[1]=(x1053+x1054+new_r00);
evalcond[2]=(gconst10+((new_r00*x1050))+(((-1.0)*new_r10*x1055)));
evalcond[3]=(gconst11+((new_r01*x1050))+(((-1.0)*new_r11*x1055)));
evalcond[4]=((((-1.0)*x1056))+x1052+new_r01);
evalcond[5]=((((-1.0)*x1056))+x1052+new_r10);
evalcond[6]=((((-1.0)*x1051))+((new_r01*x1049))+((new_r11*x1050)));
evalcond[7]=((((-1.0)*x1054))+new_r11+(((-1.0)*x1050*x1051)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1057=((1.0)*new_r10);
CheckValue<IkReal> x1058 = IKatan2WithCheck(IkReal((((gconst10*gconst11))+((new_r00*new_r01)))),IkReal(((((-1.0)*new_r01*x1057))+(gconst11*gconst11))),IKFAST_ATAN2_MAGTHRESH);
if(!x1058.valid){
continue;
}
CheckValue<IkReal> x1059=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst10*x1057))+(((-1.0)*gconst11*new_r00)))),-1);
if(!x1059.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1058.value)+(((1.5707963267949)*(x1059.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1060=IKcos(j3);
IkReal x1061=IKsin(j3);
IkReal x1062=((1.0)*gconst10);
IkReal x1063=(gconst11*x1061);
IkReal x1064=(gconst10*x1061);
IkReal x1065=(gconst11*x1060);
IkReal x1066=((1.0)*x1060);
IkReal x1067=(x1060*x1062);
evalcond[0]=(gconst11+((new_r00*x1060))+((new_r10*x1061)));
evalcond[1]=(x1065+x1064+new_r00);
evalcond[2]=((((-1.0)*new_r10*x1066))+gconst10+((new_r00*x1061)));
evalcond[3]=(gconst11+((new_r01*x1061))+(((-1.0)*new_r11*x1066)));
evalcond[4]=(x1063+new_r01+(((-1.0)*x1067)));
evalcond[5]=(x1063+new_r10+(((-1.0)*x1067)));
evalcond[6]=(((new_r01*x1060))+((new_r11*x1061))+(((-1.0)*x1062)));
evalcond[7]=((((-1.0)*x1061*x1062))+new_r11+(((-1.0)*x1065)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1068=((1.0)*new_r10);
CheckValue<IkReal> x1069=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r00*new_r01))+(((-1.0)*new_r11*x1068)))),-1);
if(!x1069.valid){
continue;
}
CheckValue<IkReal> x1070 = IKatan2WithCheck(IkReal((((gconst11*new_r00))+((gconst11*new_r11)))),IkReal((((gconst11*new_r01))+(((-1.0)*gconst11*x1068)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1070.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1069.value)))+(x1070.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1071=IKcos(j3);
IkReal x1072=IKsin(j3);
IkReal x1073=((1.0)*gconst10);
IkReal x1074=(gconst11*x1072);
IkReal x1075=(gconst10*x1072);
IkReal x1076=(gconst11*x1071);
IkReal x1077=((1.0)*x1071);
IkReal x1078=(x1071*x1073);
evalcond[0]=(gconst11+((new_r00*x1071))+((new_r10*x1072)));
evalcond[1]=(x1076+x1075+new_r00);
evalcond[2]=(gconst10+((new_r00*x1072))+(((-1.0)*new_r10*x1077)));
evalcond[3]=((((-1.0)*new_r11*x1077))+gconst11+((new_r01*x1072)));
evalcond[4]=(x1074+new_r01+(((-1.0)*x1078)));
evalcond[5]=(x1074+new_r10+(((-1.0)*x1078)));
evalcond[6]=(((new_r01*x1071))+((new_r11*x1072))+(((-1.0)*x1073)));
evalcond[7]=((((-1.0)*x1076))+(((-1.0)*x1072*x1073))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x1079=((-1.0)*new_r10);
IkReal x1081 = ((new_r10*new_r10)+(new_r00*new_r00));
if(IKabs(x1081)==0){
continue;
}
IkReal x1080=pow(x1081,-0.5);
CheckValue<IkReal> x1082 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1079),IKFAST_ATAN2_MAGTHRESH);
if(!x1082.valid){
continue;
}
IkReal gconst12=((-1.0)*(x1082.value));
IkReal gconst13=(new_r00*x1080);
IkReal gconst14=(x1079*x1080);
CheckValue<IkReal> x1083 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1083.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((x1083.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x1084=((-1.0)*new_r10);
CheckValue<IkReal> x1087 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1084),IKFAST_ATAN2_MAGTHRESH);
if(!x1087.valid){
continue;
}
IkReal x1085=((-1.0)*(x1087.value));
IkReal x1086=x1080;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1085;
IkReal gconst12=x1085;
IkReal gconst13=(new_r00*x1086);
IkReal gconst14=(x1084*x1086);
IkReal x1088=new_r10*new_r10;
IkReal x1089=((1.0)*new_r00);
IkReal x1090=((1.0)*new_r10*new_r11);
IkReal x1091=((((-1.0)*x1090))+(((-1.0)*new_r01*x1089)));
IkReal x1092=x1080;
IkReal x1093=(new_r10*x1092);
j3eval[0]=x1091;
j3eval[1]=((IKabs((((x1088*x1092))+(((-1.0)*new_r01*x1093)))))+(IKabs(((((-1.0)*x1090*x1092))+(((-1.0)*x1089*x1093))))));
j3eval[2]=IKsign(x1091);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1094=((-1.0)*new_r10);
CheckValue<IkReal> x1097 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1094),IKFAST_ATAN2_MAGTHRESH);
if(!x1097.valid){
continue;
}
IkReal x1095=((-1.0)*(x1097.value));
IkReal x1096=x1080;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1095;
IkReal gconst12=x1095;
IkReal gconst13=(new_r00*x1096);
IkReal gconst14=(x1094*x1096);
IkReal x1098=new_r10*new_r10;
CheckValue<IkReal> x1101=IKPowWithIntegerCheck((x1098+(new_r00*new_r00)),-1);
if(!x1101.valid){
continue;
}
IkReal x1099=x1101.value;
IkReal x1100=(new_r00*x1099);
j3eval[0]=((IKabs((((new_r00*new_r11))+((x1098*x1099)))))+(IKabs((((new_r01*x1098*x1100))+((new_r10*x1100))+((new_r01*x1100*(new_r00*new_r00)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1102=((-1.0)*new_r10);
CheckValue<IkReal> x1105 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1102),IKFAST_ATAN2_MAGTHRESH);
if(!x1105.valid){
continue;
}
IkReal x1103=((-1.0)*(x1105.value));
IkReal x1104=x1080;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1103;
IkReal gconst12=x1103;
IkReal gconst13=(new_r00*x1104);
IkReal gconst14=(x1102*x1104);
IkReal x1106=new_r10*new_r10;
IkReal x1107=new_r00*new_r00;
CheckValue<IkReal> x1111=IKPowWithIntegerCheck((x1106+x1107),-1);
if(!x1111.valid){
continue;
}
IkReal x1108=x1111.value;
IkReal x1109=(new_r10*x1108);
IkReal x1110=(x1106*x1108);
j3eval[0]=((IKabs((x1110+(((-1.0)*x1108*(x1107*x1107)))+(((-1.0)*x1107*x1110)))))+(IKabs((((x1109*(new_r00*new_r00*new_r00)))+((new_r00*x1109))+((new_r00*x1109*(new_r10*new_r10)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[2];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x1112=((-1.0)*new_r10);
CheckValue<IkReal> x1114 = IKatan2WithCheck(IkReal(0),IkReal(x1112),IKFAST_ATAN2_MAGTHRESH);
if(!x1114.valid){
continue;
}
IkReal x1113=((-1.0)*(x1114.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1113;
new_r11=0;
new_r00=0;
IkReal gconst12=x1113;
IkReal gconst13=0;
IkReal x1115 = new_r10*new_r10;
if(IKabs(x1115)==0){
continue;
}
IkReal gconst14=(x1112*(pow(x1115,-0.5)));
j3eval[0]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1116=IKPowWithIntegerCheck(gconst14,-1);
if(!x1116.valid){
continue;
}
sj3array[0]=((-1.0)*new_r01*(x1116.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1117=IKcos(j3);
IkReal x1118=IKsin(j3);
evalcond[0]=(new_r01*x1117);
evalcond[1]=(gconst14*x1117);
evalcond[2]=((-1.0)*new_r10*x1117);
evalcond[3]=(gconst14+((new_r01*x1118)));
evalcond[4]=(gconst14+((new_r10*x1118)));
evalcond[5]=(((gconst14*x1118))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1119=IKPowWithIntegerCheck(new_r01,-1);
if(!x1119.valid){
continue;
}
sj3array[0]=((-1.0)*gconst14*(x1119.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1120=IKcos(j3);
IkReal x1121=IKsin(j3);
IkReal x1122=(gconst14*x1121);
evalcond[0]=(new_r01*x1120);
evalcond[1]=(gconst14*x1120);
evalcond[2]=((-1.0)*new_r10*x1120);
evalcond[3]=(x1122+new_r01);
evalcond[4]=(gconst14+((new_r10*x1121)));
evalcond[5]=(x1122+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
evalcond[1]=gconst14;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x1123=((-1.0)*new_r10);
CheckValue<IkReal> x1125 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1123),IKFAST_ATAN2_MAGTHRESH);
if(!x1125.valid){
continue;
}
IkReal x1124=((-1.0)*(x1125.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1124;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst12=x1124;
IkReal gconst13=new_r00;
IkReal gconst14=x1123;
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs((new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x1126=((-1.0)*new_r10);
CheckValue<IkReal> x1128 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1126),IKFAST_ATAN2_MAGTHRESH);
if(!x1128.valid){
continue;
}
IkReal x1127=((-1.0)*(x1128.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1127;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst12=x1127;
IkReal gconst13=new_r00;
IkReal gconst14=x1126;
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs((new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x1129=((-1.0)*new_r10);
CheckValue<IkReal> x1131 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(x1129),IKFAST_ATAN2_MAGTHRESH);
if(!x1131.valid){
continue;
}
IkReal x1130=((-1.0)*(x1131.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1130;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst12=x1130;
IkReal gconst13=new_r00;
IkReal gconst14=x1129;
j3eval[0]=1.0;
j3eval[1]=1.0;
j3eval[2]=((((0.5)*(IKabs(((-1.0)+(((2.0)*(new_r10*new_r10))))))))+(IKabs((new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1132=((1.0)*gconst14);
CheckValue<IkReal> x1133=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r10*x1132))+((gconst13*new_r00)))),-1);
if(!x1133.valid){
continue;
}
CheckValue<IkReal> x1134 = IKatan2WithCheck(IkReal(((gconst14*gconst14)+(((-1.0)*(new_r00*new_r00))))),IkReal(((((-1.0)*gconst13*x1132))+((new_r00*new_r10)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1134.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1133.value)))+(x1134.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1135=IKsin(j3);
IkReal x1136=IKcos(j3);
IkReal x1137=((1.0)*gconst13);
IkReal x1138=(gconst14*x1135);
IkReal x1139=(gconst14*x1136);
IkReal x1140=(x1136*x1137);
evalcond[0]=(x1138+(((-1.0)*x1140)));
evalcond[1]=(gconst14+((new_r00*x1136))+((new_r10*x1135)));
evalcond[2]=(x1139+((gconst13*x1135))+new_r00);
evalcond[3]=(gconst13+((new_r00*x1135))+(((-1.0)*new_r10*x1136)));
evalcond[4]=((((-1.0)*x1139))+(((-1.0)*x1135*x1137)));
evalcond[5]=(x1138+(((-1.0)*x1140))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1141=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst14*gconst14)))+(((-1.0)*(gconst13*gconst13))))),-1);
if(!x1141.valid){
continue;
}
CheckValue<IkReal> x1142 = IKatan2WithCheck(IkReal((gconst13*new_r00)),IkReal((gconst14*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x1142.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1141.value)))+(x1142.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1143=IKsin(j3);
IkReal x1144=IKcos(j3);
IkReal x1145=((1.0)*gconst13);
IkReal x1146=(gconst14*x1143);
IkReal x1147=(gconst14*x1144);
IkReal x1148=(x1144*x1145);
evalcond[0]=(x1146+(((-1.0)*x1148)));
evalcond[1]=(((new_r00*x1144))+gconst14+((new_r10*x1143)));
evalcond[2]=(x1147+((gconst13*x1143))+new_r00);
evalcond[3]=((((-1.0)*new_r10*x1144))+((new_r00*x1143))+gconst13);
evalcond[4]=((((-1.0)*x1143*x1145))+(((-1.0)*x1147)));
evalcond[5]=(x1146+(((-1.0)*x1148))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1149 = IKatan2WithCheck(IkReal(gconst13*gconst13),IkReal((gconst13*gconst14)),IKFAST_ATAN2_MAGTHRESH);
if(!x1149.valid){
continue;
}
CheckValue<IkReal> x1150=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst13*new_r00))+((gconst14*new_r10)))),-1);
if(!x1150.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1149.value)+(((1.5707963267949)*(x1150.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1151=IKsin(j3);
IkReal x1152=IKcos(j3);
IkReal x1153=((1.0)*gconst13);
IkReal x1154=(gconst14*x1151);
IkReal x1155=(gconst14*x1152);
IkReal x1156=(x1152*x1153);
evalcond[0]=(x1154+(((-1.0)*x1156)));
evalcond[1]=(((new_r10*x1151))+gconst14+((new_r00*x1152)));
evalcond[2]=(x1155+((gconst13*x1151))+new_r00);
evalcond[3]=(gconst13+((new_r00*x1151))+(((-1.0)*new_r10*x1152)));
evalcond[4]=((((-1.0)*x1155))+(((-1.0)*x1151*x1153)));
evalcond[5]=(x1154+(((-1.0)*x1156))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1157=IKPowWithIntegerCheck(gconst13,-1);
if(!x1157.valid){
continue;
}
sj3array[0]=(new_r11*(x1157.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1158=IKcos(j3);
IkReal x1159=IKsin(j3);
IkReal x1160=((-1.0)*x1158);
evalcond[0]=(new_r00*x1158);
evalcond[1]=(new_r11*x1160);
evalcond[2]=(gconst13*x1160);
evalcond[3]=(gconst13+((new_r00*x1159)));
evalcond[4]=(((gconst13*x1159))+new_r00);
evalcond[5]=(((new_r11*x1159))+(((-1.0)*gconst13)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x1162 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1162.valid){
continue;
}
IkReal x1161=((-1.0)*(x1162.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1161;
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst12=x1161;
IkReal x1163 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1163)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1163,-0.5)));
IkReal gconst14=0;
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x1165 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1165.valid){
continue;
}
IkReal x1164=((-1.0)*(x1165.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1164;
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst12=x1164;
IkReal x1166 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1166)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1166,-0.5)));
IkReal gconst14=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
CheckValue<IkReal> x1168 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1168.valid){
continue;
}
IkReal x1167=((-1.0)*(x1168.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1167;
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst12=x1167;
IkReal x1169 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1169)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1169,-0.5)));
IkReal gconst14=0;
j3eval[0]=new_r00;
j3eval[1]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1170=IKPowWithIntegerCheck(new_r00,-1);
if(!x1170.valid){
continue;
}
CheckValue<IkReal> x1171=IKPowWithIntegerCheck(new_r01,-1);
if(!x1171.valid){
continue;
}
if( IKabs(((-1.0)*gconst13*(x1170.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((gconst13*(x1171.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst13*(x1170.value)))+IKsqr((gconst13*(x1171.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst13*(x1170.value)), (gconst13*(x1171.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1172=IKsin(j3);
IkReal x1173=IKcos(j3);
IkReal x1174=(gconst13*x1173);
IkReal x1175=(gconst13*x1172);
evalcond[0]=(new_r01*x1172);
evalcond[1]=(new_r00*x1173);
evalcond[2]=((-1.0)*x1175);
evalcond[3]=((-1.0)*x1174);
evalcond[4]=(gconst13+((new_r00*x1172)));
evalcond[5]=(x1175+new_r00);
evalcond[6]=(new_r01+(((-1.0)*x1174)));
evalcond[7]=((((-1.0)*gconst13))+((new_r01*x1173)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1176=IKPowWithIntegerCheck(new_r00,-1);
if(!x1176.valid){
continue;
}
CheckValue<IkReal> x1177=IKPowWithIntegerCheck(gconst13,-1);
if(!x1177.valid){
continue;
}
if( IKabs(((-1.0)*gconst13*(x1176.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r01*(x1177.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst13*(x1176.value)))+IKsqr((new_r01*(x1177.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst13*(x1176.value)), (new_r01*(x1177.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1178=IKsin(j3);
IkReal x1179=IKcos(j3);
IkReal x1180=(gconst13*x1179);
IkReal x1181=(gconst13*x1178);
evalcond[0]=(new_r01*x1178);
evalcond[1]=(new_r00*x1179);
evalcond[2]=((-1.0)*x1181);
evalcond[3]=((-1.0)*x1180);
evalcond[4]=(gconst13+((new_r00*x1178)));
evalcond[5]=(x1181+new_r00);
evalcond[6]=(new_r01+(((-1.0)*x1180)));
evalcond[7]=((((-1.0)*gconst13))+((new_r01*x1179)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1182 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1182.valid){
continue;
}
CheckValue<IkReal> x1183=IKPowWithIntegerCheck(IKsign(gconst13),-1);
if(!x1183.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1182.value)+(((1.5707963267949)*(x1183.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1184=IKsin(j3);
IkReal x1185=IKcos(j3);
IkReal x1186=(gconst13*x1185);
IkReal x1187=(gconst13*x1184);
evalcond[0]=(new_r01*x1184);
evalcond[1]=(new_r00*x1185);
evalcond[2]=((-1.0)*x1187);
evalcond[3]=((-1.0)*x1186);
evalcond[4]=(gconst13+((new_r00*x1184)));
evalcond[5]=(x1187+new_r00);
evalcond[6]=(new_r01+(((-1.0)*x1186)));
evalcond[7]=(((new_r01*x1185))+(((-1.0)*gconst13)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r10);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x1189 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1189.valid){
continue;
}
IkReal x1188=((-1.0)*(x1189.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1188;
new_r10=0;
IkReal gconst12=x1188;
IkReal x1190 = new_r00*new_r00;
if(IKabs(x1190)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1190,-0.5)));
IkReal gconst14=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x1192 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1192.valid){
continue;
}
IkReal x1191=((-1.0)*(x1192.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1191;
new_r10=0;
IkReal gconst12=x1191;
IkReal x1193 = new_r00*new_r00;
if(IKabs(x1193)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1193,-0.5)));
IkReal gconst14=0;
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
CheckValue<IkReal> x1195 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1195.valid){
continue;
}
IkReal x1194=((-1.0)*(x1195.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst13;
cj5=gconst14;
j5=x1194;
new_r10=0;
IkReal gconst12=x1194;
IkReal x1196 = new_r00*new_r00;
if(IKabs(x1196)==0){
continue;
}
IkReal gconst13=(new_r00*(pow(x1196,-0.5)));
IkReal gconst14=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1197=IKPowWithIntegerCheck(new_r00,-1);
if(!x1197.valid){
continue;
}
CheckValue<IkReal> x1198=IKPowWithIntegerCheck(gconst13,-1);
if(!x1198.valid){
continue;
}
if( IKabs(((-1.0)*gconst13*(x1197.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r01*(x1198.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst13*(x1197.value)))+IKsqr((new_r01*(x1198.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst13*(x1197.value)), (new_r01*(x1198.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1199=IKcos(j3);
IkReal x1200=IKsin(j3);
IkReal x1201=(gconst13*x1199);
IkReal x1202=(gconst13*x1200);
evalcond[0]=(new_r00*x1199);
evalcond[1]=((-1.0)*x1201);
evalcond[2]=(((new_r00*x1200))+gconst13);
evalcond[3]=(x1202+new_r00);
evalcond[4]=((((-1.0)*x1201))+new_r01);
evalcond[5]=((((-1.0)*x1202))+new_r11);
evalcond[6]=(((new_r01*x1200))+(((-1.0)*new_r11*x1199)));
evalcond[7]=(((new_r11*x1200))+(((-1.0)*gconst13))+((new_r01*x1199)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1203 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1203.valid){
continue;
}
CheckValue<IkReal> x1204=IKPowWithIntegerCheck(IKsign(gconst13),-1);
if(!x1204.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1203.value)+(((1.5707963267949)*(x1204.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1205=IKcos(j3);
IkReal x1206=IKsin(j3);
IkReal x1207=(gconst13*x1205);
IkReal x1208=(gconst13*x1206);
evalcond[0]=(new_r00*x1205);
evalcond[1]=((-1.0)*x1207);
evalcond[2]=(((new_r00*x1206))+gconst13);
evalcond[3]=(x1208+new_r00);
evalcond[4]=((((-1.0)*x1207))+new_r01);
evalcond[5]=((((-1.0)*x1208))+new_r11);
evalcond[6]=(((new_r01*x1206))+(((-1.0)*new_r11*x1205)));
evalcond[7]=(((new_r11*x1206))+((new_r01*x1205))+(((-1.0)*gconst13)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1209 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1209.valid){
continue;
}
CheckValue<IkReal> x1210=IKPowWithIntegerCheck(IKsign(gconst13),-1);
if(!x1210.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1209.value)+(((1.5707963267949)*(x1210.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1211=IKcos(j3);
IkReal x1212=IKsin(j3);
IkReal x1213=(gconst13*x1211);
IkReal x1214=(gconst13*x1212);
evalcond[0]=(new_r00*x1211);
evalcond[1]=((-1.0)*x1213);
evalcond[2]=(gconst13+((new_r00*x1212)));
evalcond[3]=(x1214+new_r00);
evalcond[4]=(new_r01+(((-1.0)*x1213)));
evalcond[5]=(new_r11+(((-1.0)*x1214)));
evalcond[6]=(((new_r01*x1212))+(((-1.0)*new_r11*x1211)));
evalcond[7]=(((new_r11*x1212))+((new_r01*x1211))+(((-1.0)*gconst13)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1215=((1.0)*gconst14);
CheckValue<IkReal> x1216=IKPowWithIntegerCheck(IKsign((((gconst13*new_r00))+(((-1.0)*new_r10*x1215)))),-1);
if(!x1216.valid){
continue;
}
CheckValue<IkReal> x1217 = IKatan2WithCheck(IkReal(((gconst14*gconst14)+(((-1.0)*(new_r00*new_r00))))),IkReal((((new_r00*new_r10))+(((-1.0)*gconst13*x1215)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1217.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1216.value)))+(x1217.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1218=IKsin(j3);
IkReal x1219=IKcos(j3);
IkReal x1220=(gconst14*x1218);
IkReal x1221=((1.0)*x1219);
IkReal x1222=(gconst13*x1218);
IkReal x1223=(gconst13*x1221);
evalcond[0]=(((new_r10*x1218))+gconst14+((new_r00*x1219)));
evalcond[1]=(x1222+((gconst14*x1219))+new_r00);
evalcond[2]=(gconst13+((new_r00*x1218))+(((-1.0)*new_r10*x1221)));
evalcond[3]=(gconst14+((new_r01*x1218))+(((-1.0)*new_r11*x1221)));
evalcond[4]=(x1220+(((-1.0)*x1223))+new_r01);
evalcond[5]=(x1220+(((-1.0)*x1223))+new_r10);
evalcond[6]=(((new_r11*x1218))+((new_r01*x1219))+(((-1.0)*gconst13)));
evalcond[7]=((((-1.0)*x1222))+new_r11+(((-1.0)*gconst14*x1221)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1224=((1.0)*gconst14);
CheckValue<IkReal> x1225 = IKatan2WithCheck(IkReal(((gconst14*gconst14)+((new_r00*new_r11)))),IkReal((((new_r00*new_r01))+(((-1.0)*gconst13*x1224)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1225.valid){
continue;
}
CheckValue<IkReal> x1226=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst13*new_r11))+(((-1.0)*new_r01*x1224)))),-1);
if(!x1226.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1225.value)+(((1.5707963267949)*(x1226.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1227=IKsin(j3);
IkReal x1228=IKcos(j3);
IkReal x1229=(gconst14*x1227);
IkReal x1230=((1.0)*x1228);
IkReal x1231=(gconst13*x1227);
IkReal x1232=(gconst13*x1230);
evalcond[0]=(gconst14+((new_r00*x1228))+((new_r10*x1227)));
evalcond[1]=(x1231+new_r00+((gconst14*x1228)));
evalcond[2]=(gconst13+((new_r00*x1227))+(((-1.0)*new_r10*x1230)));
evalcond[3]=(gconst14+((new_r01*x1227))+(((-1.0)*new_r11*x1230)));
evalcond[4]=(x1229+(((-1.0)*x1232))+new_r01);
evalcond[5]=(x1229+(((-1.0)*x1232))+new_r10);
evalcond[6]=(((new_r11*x1227))+((new_r01*x1228))+(((-1.0)*gconst13)));
evalcond[7]=((((-1.0)*x1231))+new_r11+(((-1.0)*gconst14*x1230)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1233=((1.0)*new_r10);
CheckValue<IkReal> x1234=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r00*new_r01))+(((-1.0)*new_r11*x1233)))),-1);
if(!x1234.valid){
continue;
}
CheckValue<IkReal> x1235 = IKatan2WithCheck(IkReal((((gconst14*new_r00))+((gconst14*new_r11)))),IkReal((((gconst14*new_r01))+(((-1.0)*gconst14*x1233)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1235.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1234.value)))+(x1235.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1236=IKsin(j3);
IkReal x1237=IKcos(j3);
IkReal x1238=(gconst14*x1236);
IkReal x1239=((1.0)*x1237);
IkReal x1240=(gconst13*x1236);
IkReal x1241=(gconst13*x1239);
evalcond[0]=(gconst14+((new_r10*x1236))+((new_r00*x1237)));
evalcond[1]=(((gconst14*x1237))+x1240+new_r00);
evalcond[2]=(gconst13+((new_r00*x1236))+(((-1.0)*new_r10*x1239)));
evalcond[3]=(gconst14+((new_r01*x1236))+(((-1.0)*new_r11*x1239)));
evalcond[4]=(x1238+(((-1.0)*x1241))+new_r01);
evalcond[5]=(x1238+(((-1.0)*x1241))+new_r10);
evalcond[6]=(((new_r01*x1237))+((new_r11*x1236))+(((-1.0)*gconst13)));
evalcond[7]=((((-1.0)*x1240))+new_r11+(((-1.0)*gconst14*x1239)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
IkReal x1242=((-1.0)*new_r00);
IkReal x1244 = ((new_r10*new_r10)+(new_r00*new_r00));
if(IKabs(x1244)==0){
continue;
}
IkReal x1243=pow(x1244,-0.5);
CheckValue<IkReal> x1245 = IKatan2WithCheck(IkReal(x1242),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1245.valid){
continue;
}
IkReal gconst15=((3.14159265358979)+(((-1.0)*(x1245.value))));
IkReal gconst16=(x1242*x1243);
IkReal gconst17=((1.0)*new_r10*x1243);
CheckValue<IkReal> x1246 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1246.valid){
continue;
}
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-3.14159265358979)+(x1246.value)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x1247=((-1.0)*new_r00);
CheckValue<IkReal> x1250 = IKatan2WithCheck(IkReal(x1247),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1250.valid){
continue;
}
IkReal x1248=((1.0)*(x1250.value));
IkReal x1249=x1243;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1248)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1248)));
IkReal gconst16=(x1247*x1249);
IkReal gconst17=((1.0)*new_r10*x1249);
IkReal x1251=new_r10*new_r10;
IkReal x1252=(new_r10*new_r11);
IkReal x1253=((((-1.0)*new_r00*new_r01))+(((-1.0)*x1252)));
IkReal x1254=x1243;
IkReal x1255=(new_r10*x1254);
j3eval[0]=x1253;
j3eval[1]=((IKabs((((new_r01*x1255))+(((-1.0)*x1251*x1254)))))+(IKabs((((new_r00*x1255))+((x1252*x1254))))));
j3eval[2]=IKsign(x1253);
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1256=((-1.0)*new_r00);
CheckValue<IkReal> x1259 = IKatan2WithCheck(IkReal(x1256),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1259.valid){
continue;
}
IkReal x1257=((1.0)*(x1259.value));
IkReal x1258=x1243;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1257)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1257)));
IkReal gconst16=(x1256*x1258);
IkReal gconst17=((1.0)*new_r10*x1258);
IkReal x1260=new_r10*new_r10;
IkReal x1261=new_r00*new_r00*new_r00;
CheckValue<IkReal> x1265=IKPowWithIntegerCheck((x1260+(new_r00*new_r00)),-1);
if(!x1265.valid){
continue;
}
IkReal x1262=x1265.value;
IkReal x1263=(x1260*x1262);
IkReal x1264=(x1261*x1262);
j3eval[0]=((IKabs((((new_r00*new_r10*x1262))+((new_r01*x1264))+((new_r00*new_r01*x1263)))))+(IKabs((x1263+((new_r11*x1264))+((new_r00*new_r11*x1263))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1266=((-1.0)*new_r00);
CheckValue<IkReal> x1269 = IKatan2WithCheck(IkReal(x1266),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1269.valid){
continue;
}
IkReal x1267=((1.0)*(x1269.value));
IkReal x1268=x1243;
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1267)));
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1267)));
IkReal gconst16=(x1266*x1268);
IkReal gconst17=((1.0)*new_r10*x1268);
IkReal x1270=new_r10*new_r10;
IkReal x1271=new_r00*new_r00;
CheckValue<IkReal> x1275=IKPowWithIntegerCheck((x1270+x1271),-1);
if(!x1275.valid){
continue;
}
IkReal x1272=x1275.value;
IkReal x1273=(new_r10*x1272);
IkReal x1274=(x1270*x1272);
j3eval[0]=((IKabs(((((-1.0)*x1271*x1274))+x1274+(((-1.0)*x1272*(x1271*x1271))))))+(IKabs((((new_r00*x1273))+((x1273*(new_r00*new_r00*new_r00)))+((new_r00*x1273*(new_r10*new_r10)))))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal evalcond[2];
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
CheckValue<IkReal> x1277 = IKatan2WithCheck(IkReal(0),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1277.valid){
continue;
}
IkReal x1276=((1.0)*(x1277.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1276)));
new_r11=0;
new_r00=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1276)));
IkReal gconst16=0;
IkReal x1278 = new_r10*new_r10;
if(IKabs(x1278)==0){
continue;
}
IkReal gconst17=((1.0)*new_r10*(pow(x1278,-0.5)));
j3eval[0]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1279=IKPowWithIntegerCheck(gconst17,-1);
if(!x1279.valid){
continue;
}
sj3array[0]=((-1.0)*new_r01*(x1279.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1280=IKcos(j3);
IkReal x1281=IKsin(j3);
evalcond[0]=(new_r01*x1280);
evalcond[1]=(gconst17*x1280);
evalcond[2]=((-1.0)*new_r10*x1280);
evalcond[3]=(gconst17+((new_r01*x1281)));
evalcond[4]=(((new_r10*x1281))+gconst17);
evalcond[5]=(new_r10+((gconst17*x1281)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1282=IKPowWithIntegerCheck(new_r01,-1);
if(!x1282.valid){
continue;
}
sj3array[0]=((-1.0)*gconst17*(x1282.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1283=IKcos(j3);
IkReal x1284=IKsin(j3);
IkReal x1285=(gconst17*x1284);
evalcond[0]=(new_r01*x1283);
evalcond[1]=(gconst17*x1283);
evalcond[2]=((-1.0)*new_r10*x1283);
evalcond[3]=(x1285+new_r01);
evalcond[4]=(((new_r10*x1284))+gconst17);
evalcond[5]=(x1285+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
evalcond[1]=gconst17;
if( IKabs(evalcond[0]) < 0.0000050000000000  && IKabs(evalcond[1]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
IkReal x1286=((-1.0)*new_r00);
CheckValue<IkReal> x1288 = IKatan2WithCheck(IkReal(x1286),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1288.valid){
continue;
}
IkReal x1287=((1.0)*(x1288.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1287)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1287)));
IkReal gconst16=x1286;
IkReal gconst17=((1.0)*new_r10);
j3eval[0]=1.0;
j3eval[1]=1.0;
j3eval[2]=((IKabs(((1.0)+(((-1.0)*(new_r10*new_r10))))))+(IKabs(((1.0)*new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x1289=((-1.0)*new_r00);
CheckValue<IkReal> x1291 = IKatan2WithCheck(IkReal(x1289),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1291.valid){
continue;
}
IkReal x1290=((1.0)*(x1291.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1290)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1290)));
IkReal gconst16=x1289;
IkReal gconst17=((1.0)*new_r10);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((1.0)*new_r00*new_r10)))+(IKabs(((-1.0)+(new_r10*new_r10)))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
IkReal x1292=((-1.0)*new_r00);
CheckValue<IkReal> x1294 = IKatan2WithCheck(IkReal(x1292),IkReal(((-1.0)*new_r10)),IKFAST_ATAN2_MAGTHRESH);
if(!x1294.valid){
continue;
}
IkReal x1293=((1.0)*(x1294.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1293)));
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1293)));
IkReal gconst16=x1292;
IkReal gconst17=((1.0)*new_r10);
j3eval[0]=-1.0;
j3eval[1]=-1.0;
j3eval[2]=((IKabs(((-1.0)+(((2.0)*(new_r10*new_r10))))))+(IKabs(((2.0)*new_r00*new_r10))));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1295=((1.0)*gconst17);
CheckValue<IkReal> x1296 = IKatan2WithCheck(IkReal(((((-1.0)*(new_r00*new_r00)))+(gconst17*gconst17))),IkReal(((((-1.0)*gconst16*x1295))+((new_r00*new_r10)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1296.valid){
continue;
}
CheckValue<IkReal> x1297=IKPowWithIntegerCheck(IKsign((((gconst16*new_r00))+(((-1.0)*new_r10*x1295)))),-1);
if(!x1297.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1296.value)+(((1.5707963267949)*(x1297.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1298=IKsin(j3);
IkReal x1299=IKcos(j3);
IkReal x1300=(gconst17*x1298);
IkReal x1301=(gconst16*x1298);
IkReal x1302=(gconst17*x1299);
IkReal x1303=((1.0)*x1299);
IkReal x1304=(gconst16*x1303);
evalcond[0]=(x1300+(((-1.0)*x1304)));
evalcond[1]=(gconst17+((new_r10*x1298))+((new_r00*x1299)));
evalcond[2]=(x1301+x1302+new_r00);
evalcond[3]=((((-1.0)*new_r10*x1303))+gconst16+((new_r00*x1298)));
evalcond[4]=((((-1.0)*x1301))+(((-1.0)*x1302)));
evalcond[5]=(x1300+(((-1.0)*x1304))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1305=IKPowWithIntegerCheck(IKsign(((((-1.0)*(gconst17*gconst17)))+(((-1.0)*(gconst16*gconst16))))),-1);
if(!x1305.valid){
continue;
}
CheckValue<IkReal> x1306 = IKatan2WithCheck(IkReal((gconst16*new_r00)),IkReal((gconst17*new_r00)),IKFAST_ATAN2_MAGTHRESH);
if(!x1306.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1305.value)))+(x1306.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1307=IKsin(j3);
IkReal x1308=IKcos(j3);
IkReal x1309=(gconst17*x1307);
IkReal x1310=(gconst16*x1307);
IkReal x1311=(gconst17*x1308);
IkReal x1312=((1.0)*x1308);
IkReal x1313=(gconst16*x1312);
evalcond[0]=(x1309+(((-1.0)*x1313)));
evalcond[1]=(gconst17+((new_r10*x1307))+((new_r00*x1308)));
evalcond[2]=(x1311+x1310+new_r00);
evalcond[3]=((((-1.0)*new_r10*x1312))+gconst16+((new_r00*x1307)));
evalcond[4]=((((-1.0)*x1310))+(((-1.0)*x1311)));
evalcond[5]=(x1309+(((-1.0)*x1313))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1314=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst16*new_r00))+((gconst17*new_r10)))),-1);
if(!x1314.valid){
continue;
}
CheckValue<IkReal> x1315 = IKatan2WithCheck(IkReal(gconst16*gconst16),IkReal((gconst16*gconst17)),IKFAST_ATAN2_MAGTHRESH);
if(!x1315.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1314.value)))+(x1315.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1316=IKsin(j3);
IkReal x1317=IKcos(j3);
IkReal x1318=(gconst17*x1316);
IkReal x1319=(gconst16*x1316);
IkReal x1320=(gconst17*x1317);
IkReal x1321=((1.0)*x1317);
IkReal x1322=(gconst16*x1321);
evalcond[0]=(x1318+(((-1.0)*x1322)));
evalcond[1]=(((new_r00*x1317))+gconst17+((new_r10*x1316)));
evalcond[2]=(x1319+x1320+new_r00);
evalcond[3]=(((new_r00*x1316))+(((-1.0)*new_r10*x1321))+gconst16);
evalcond[4]=((((-1.0)*x1319))+(((-1.0)*x1320)));
evalcond[5]=(x1318+(((-1.0)*x1322))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1323=IKPowWithIntegerCheck(gconst16,-1);
if(!x1323.valid){
continue;
}
sj3array[0]=(new_r11*(x1323.value));
if( sj3array[0] >= -1-IKFAST_SINCOS_THRESH && sj3array[0] <= 1+IKFAST_SINCOS_THRESH )
{
    j3valid[0] = j3valid[1] = true;
    j3array[0] = IKasin(sj3array[0]);
    cj3array[0] = IKcos(j3array[0]);
    sj3array[1] = sj3array[0];
    j3array[1] = j3array[0] > 0 ? (IKPI-j3array[0]) : (-IKPI-j3array[0]);
    cj3array[1] = -cj3array[0];
}
else if( isnan(sj3array[0]) )
{
    // probably any value will work
    j3valid[0] = true;
    cj3array[0] = 1; sj3array[0] = 0; j3array[0] = 0;
}
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[6];
IkReal x1324=IKcos(j3);
IkReal x1325=IKsin(j3);
IkReal x1326=((-1.0)*x1324);
evalcond[0]=(new_r00*x1324);
evalcond[1]=(new_r11*x1326);
evalcond[2]=(gconst16*x1326);
evalcond[3]=(((new_r00*x1325))+gconst16);
evalcond[4]=(((gconst16*x1325))+new_r00);
evalcond[5]=(((new_r11*x1325))+(((-1.0)*gconst16)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r10)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x1327=((-1.0)*new_r00);
CheckValue<IkReal> x1329 = IKatan2WithCheck(IkReal(x1327),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1329.valid){
continue;
}
IkReal x1328=((1.0)*(x1329.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1328)));
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1328)));
IkReal x1330 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1330)==0){
continue;
}
IkReal gconst16=(x1327*(pow(x1330,-0.5)));
IkReal gconst17=0;
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1331=((-1.0)*new_r00);
CheckValue<IkReal> x1333 = IKatan2WithCheck(IkReal(x1331),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1333.valid){
continue;
}
IkReal x1332=((1.0)*(x1333.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1332)));
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1332)));
IkReal x1334 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1334)==0){
continue;
}
IkReal gconst16=(x1331*(pow(x1334,-0.5)));
IkReal gconst17=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
IkReal x1335=((-1.0)*new_r00);
CheckValue<IkReal> x1337 = IKatan2WithCheck(IkReal(x1335),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1337.valid){
continue;
}
IkReal x1336=((1.0)*(x1337.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1336)));
new_r11=0;
new_r10=0;
new_r22=0;
new_r02=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1336)));
IkReal x1338 = ((1.0)+(((-1.0)*(new_r01*new_r01))));
if(IKabs(x1338)==0){
continue;
}
IkReal gconst16=(x1335*(pow(x1338,-0.5)));
IkReal gconst17=0;
j3eval[0]=new_r00;
j3eval[1]=new_r01;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1339=IKPowWithIntegerCheck(new_r00,-1);
if(!x1339.valid){
continue;
}
CheckValue<IkReal> x1340=IKPowWithIntegerCheck(new_r01,-1);
if(!x1340.valid){
continue;
}
if( IKabs(((-1.0)*gconst16*(x1339.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((gconst16*(x1340.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst16*(x1339.value)))+IKsqr((gconst16*(x1340.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst16*(x1339.value)), (gconst16*(x1340.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1341=IKsin(j3);
IkReal x1342=IKcos(j3);
IkReal x1343=((1.0)*gconst16);
IkReal x1344=((-1.0)*gconst16);
evalcond[0]=(new_r01*x1341);
evalcond[1]=(new_r00*x1342);
evalcond[2]=(x1341*x1344);
evalcond[3]=(x1342*x1344);
evalcond[4]=(gconst16+((new_r00*x1341)));
evalcond[5]=(((gconst16*x1341))+new_r00);
evalcond[6]=((((-1.0)*x1342*x1343))+new_r01);
evalcond[7]=((((-1.0)*x1343))+((new_r01*x1342)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1345=IKPowWithIntegerCheck(new_r00,-1);
if(!x1345.valid){
continue;
}
CheckValue<IkReal> x1346=IKPowWithIntegerCheck(gconst16,-1);
if(!x1346.valid){
continue;
}
if( IKabs(((-1.0)*gconst16*(x1345.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r01*(x1346.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst16*(x1345.value)))+IKsqr((new_r01*(x1346.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst16*(x1345.value)), (new_r01*(x1346.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1347=IKsin(j3);
IkReal x1348=IKcos(j3);
IkReal x1349=((1.0)*gconst16);
IkReal x1350=((-1.0)*gconst16);
evalcond[0]=(new_r01*x1347);
evalcond[1]=(new_r00*x1348);
evalcond[2]=(x1347*x1350);
evalcond[3]=(x1348*x1350);
evalcond[4]=(gconst16+((new_r00*x1347)));
evalcond[5]=(((gconst16*x1347))+new_r00);
evalcond[6]=((((-1.0)*x1348*x1349))+new_r01);
evalcond[7]=((((-1.0)*x1349))+((new_r01*x1348)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1351 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1351.valid){
continue;
}
CheckValue<IkReal> x1352=IKPowWithIntegerCheck(IKsign(gconst16),-1);
if(!x1352.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1351.value)+(((1.5707963267949)*(x1352.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1353=IKsin(j3);
IkReal x1354=IKcos(j3);
IkReal x1355=((1.0)*gconst16);
IkReal x1356=((-1.0)*gconst16);
evalcond[0]=(new_r01*x1353);
evalcond[1]=(new_r00*x1354);
evalcond[2]=(x1353*x1356);
evalcond[3]=(x1354*x1356);
evalcond[4]=(gconst16+((new_r00*x1353)));
evalcond[5]=(new_r00+((gconst16*x1353)));
evalcond[6]=((((-1.0)*x1354*x1355))+new_r01);
evalcond[7]=((((-1.0)*x1355))+((new_r01*x1354)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=IKabs(new_r10);
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
IkReal x1357=((-1.0)*new_r00);
CheckValue<IkReal> x1359 = IKatan2WithCheck(IkReal(x1357),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1359.valid){
continue;
}
IkReal x1358=((1.0)*(x1359.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1358)));
new_r10=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1358)));
IkReal x1360 = new_r00*new_r00;
if(IKabs(x1360)==0){
continue;
}
IkReal gconst16=(x1357*(pow(x1360,-0.5)));
IkReal gconst17=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1361=((-1.0)*new_r00);
CheckValue<IkReal> x1363 = IKatan2WithCheck(IkReal(x1361),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1363.valid){
continue;
}
IkReal x1362=((1.0)*(x1363.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1362)));
new_r10=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1362)));
IkReal x1364 = new_r00*new_r00;
if(IKabs(x1364)==0){
continue;
}
IkReal gconst16=(x1361*(pow(x1364,-0.5)));
IkReal gconst17=0;
j3eval[0]=((IKabs(new_r00))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
IkReal x1365=((-1.0)*new_r00);
CheckValue<IkReal> x1367 = IKatan2WithCheck(IkReal(x1365),IkReal(0),IKFAST_ATAN2_MAGTHRESH);
if(!x1367.valid){
continue;
}
IkReal x1366=((1.0)*(x1367.value));
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
sj5=gconst16;
cj5=gconst17;
j5=((3.14159265)+(((-1.0)*x1366)));
new_r10=0;
IkReal gconst15=((3.14159265358979)+(((-1.0)*x1366)));
IkReal x1368 = new_r00*new_r00;
if(IKabs(x1368)==0){
continue;
}
IkReal gconst16=(x1365*(pow(x1368,-0.5)));
IkReal gconst17=0;
j3eval[0]=new_r00;
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // 3 cases reached
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1369=IKPowWithIntegerCheck(new_r00,-1);
if(!x1369.valid){
continue;
}
CheckValue<IkReal> x1370=IKPowWithIntegerCheck(gconst16,-1);
if(!x1370.valid){
continue;
}
if( IKabs(((-1.0)*gconst16*(x1369.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((new_r01*(x1370.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*gconst16*(x1369.value)))+IKsqr((new_r01*(x1370.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*gconst16*(x1369.value)), (new_r01*(x1370.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1371=IKcos(j3);
IkReal x1372=IKsin(j3);
IkReal x1373=((1.0)*gconst16);
evalcond[0]=(new_r00*x1371);
evalcond[1]=((-1.0)*gconst16*x1371);
evalcond[2]=(gconst16+((new_r00*x1372)));
evalcond[3]=(new_r00+((gconst16*x1372)));
evalcond[4]=((((-1.0)*x1371*x1373))+new_r01);
evalcond[5]=((((-1.0)*x1372*x1373))+new_r11);
evalcond[6]=(((new_r01*x1372))+(((-1.0)*new_r11*x1371)));
evalcond[7]=((((-1.0)*x1373))+((new_r11*x1372))+((new_r01*x1371)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1374 = IKatan2WithCheck(IkReal(((-1.0)*new_r00)),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1374.valid){
continue;
}
CheckValue<IkReal> x1375=IKPowWithIntegerCheck(IKsign(gconst16),-1);
if(!x1375.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1374.value)+(((1.5707963267949)*(x1375.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1376=IKcos(j3);
IkReal x1377=IKsin(j3);
IkReal x1378=((1.0)*gconst16);
evalcond[0]=(new_r00*x1376);
evalcond[1]=((-1.0)*gconst16*x1376);
evalcond[2]=(gconst16+((new_r00*x1377)));
evalcond[3]=(new_r00+((gconst16*x1377)));
evalcond[4]=((((-1.0)*x1376*x1378))+new_r01);
evalcond[5]=((((-1.0)*x1377*x1378))+new_r11);
evalcond[6]=(((new_r01*x1377))+(((-1.0)*new_r11*x1376)));
evalcond[7]=((((-1.0)*x1378))+((new_r11*x1377))+((new_r01*x1376)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1379=IKPowWithIntegerCheck(IKsign(gconst16),-1);
if(!x1379.valid){
continue;
}
CheckValue<IkReal> x1380 = IKatan2WithCheck(IkReal(new_r11),IkReal(new_r01),IKFAST_ATAN2_MAGTHRESH);
if(!x1380.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1379.value)))+(x1380.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1381=IKcos(j3);
IkReal x1382=IKsin(j3);
IkReal x1383=((1.0)*gconst16);
evalcond[0]=(new_r00*x1381);
evalcond[1]=((-1.0)*gconst16*x1381);
evalcond[2]=(gconst16+((new_r00*x1382)));
evalcond[3]=(((gconst16*x1382))+new_r00);
evalcond[4]=((((-1.0)*x1381*x1383))+new_r01);
evalcond[5]=((((-1.0)*x1382*x1383))+new_r11);
evalcond[6]=((((-1.0)*new_r11*x1381))+((new_r01*x1382)));
evalcond[7]=((((-1.0)*x1383))+((new_r11*x1382))+((new_r01*x1381)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1384=((1.0)*gconst17);
CheckValue<IkReal> x1385=IKPowWithIntegerCheck(IKsign((((gconst16*new_r00))+(((-1.0)*new_r10*x1384)))),-1);
if(!x1385.valid){
continue;
}
CheckValue<IkReal> x1386 = IKatan2WithCheck(IkReal(((((-1.0)*(new_r00*new_r00)))+(gconst17*gconst17))),IkReal((((new_r00*new_r10))+(((-1.0)*gconst16*x1384)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1386.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1385.value)))+(x1386.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1387=IKsin(j3);
IkReal x1388=IKcos(j3);
IkReal x1389=((1.0)*gconst16);
IkReal x1390=(gconst17*x1387);
IkReal x1391=(gconst17*x1388);
IkReal x1392=((1.0)*x1388);
IkReal x1393=(x1388*x1389);
evalcond[0]=(((new_r10*x1387))+gconst17+((new_r00*x1388)));
evalcond[1]=(x1391+((gconst16*x1387))+new_r00);
evalcond[2]=(gconst16+((new_r00*x1387))+(((-1.0)*new_r10*x1392)));
evalcond[3]=(gconst17+((new_r01*x1387))+(((-1.0)*new_r11*x1392)));
evalcond[4]=(x1390+new_r01+(((-1.0)*x1393)));
evalcond[5]=(x1390+new_r10+(((-1.0)*x1393)));
evalcond[6]=((((-1.0)*x1389))+((new_r11*x1387))+((new_r01*x1388)));
evalcond[7]=((((-1.0)*x1391))+new_r11+(((-1.0)*x1387*x1389)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1394=((1.0)*gconst17);
CheckValue<IkReal> x1395=IKPowWithIntegerCheck(IKsign(((((-1.0)*gconst16*new_r11))+(((-1.0)*new_r01*x1394)))),-1);
if(!x1395.valid){
continue;
}
CheckValue<IkReal> x1396 = IKatan2WithCheck(IkReal((((new_r00*new_r11))+(gconst17*gconst17))),IkReal(((((-1.0)*gconst16*x1394))+((new_r00*new_r01)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1396.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1395.value)))+(x1396.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1397=IKsin(j3);
IkReal x1398=IKcos(j3);
IkReal x1399=((1.0)*gconst16);
IkReal x1400=(gconst17*x1397);
IkReal x1401=(gconst17*x1398);
IkReal x1402=((1.0)*x1398);
IkReal x1403=(x1398*x1399);
evalcond[0]=(((new_r10*x1397))+gconst17+((new_r00*x1398)));
evalcond[1]=(x1401+new_r00+((gconst16*x1397)));
evalcond[2]=(gconst16+((new_r00*x1397))+(((-1.0)*new_r10*x1402)));
evalcond[3]=(gconst17+((new_r01*x1397))+(((-1.0)*new_r11*x1402)));
evalcond[4]=((((-1.0)*x1403))+x1400+new_r01);
evalcond[5]=((((-1.0)*x1403))+x1400+new_r10);
evalcond[6]=(((new_r11*x1397))+((new_r01*x1398))+(((-1.0)*x1399)));
evalcond[7]=((((-1.0)*x1401))+(((-1.0)*x1397*x1399))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1404=((1.0)*new_r10);
CheckValue<IkReal> x1405 = IKatan2WithCheck(IkReal((((gconst17*new_r11))+((gconst17*new_r00)))),IkReal(((((-1.0)*gconst17*x1404))+((gconst17*new_r01)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1405.valid){
continue;
}
CheckValue<IkReal> x1406=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r00*new_r01))+(((-1.0)*new_r11*x1404)))),-1);
if(!x1406.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1405.value)+(((1.5707963267949)*(x1406.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1407=IKsin(j3);
IkReal x1408=IKcos(j3);
IkReal x1409=((1.0)*gconst16);
IkReal x1410=(gconst17*x1407);
IkReal x1411=(gconst17*x1408);
IkReal x1412=((1.0)*x1408);
IkReal x1413=(x1408*x1409);
evalcond[0]=(gconst17+((new_r10*x1407))+((new_r00*x1408)));
evalcond[1]=(((gconst16*x1407))+x1411+new_r00);
evalcond[2]=((((-1.0)*new_r10*x1412))+gconst16+((new_r00*x1407)));
evalcond[3]=((((-1.0)*new_r11*x1412))+((new_r01*x1407))+gconst17);
evalcond[4]=((((-1.0)*x1413))+x1410+new_r01);
evalcond[5]=((((-1.0)*x1413))+x1410+new_r10);
evalcond[6]=(((new_r01*x1408))+((new_r11*x1407))+(((-1.0)*x1409)));
evalcond[7]=((((-1.0)*x1407*x1409))+new_r11+(((-1.0)*x1411)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
if( IKabs(((-1.0)*new_r00)) < IKFAST_ATAN2_MAGTHRESH && IKabs(new_r01) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r00))+IKsqr(new_r01)-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*new_r00), new_r01);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1414=IKsin(j3);
IkReal x1415=IKcos(j3);
IkReal x1416=((1.0)*x1415);
evalcond[0]=(x1414+new_r00);
evalcond[1]=((((-1.0)*x1416))+new_r01);
evalcond[2]=(new_r11+(((-1.0)*x1414)));
evalcond[3]=((((-1.0)*x1416))+new_r10);
evalcond[4]=(((new_r00*x1415))+((new_r10*x1414)));
evalcond[5]=((((-1.0)*new_r11*x1416))+((new_r01*x1414)));
evalcond[6]=((-1.0)+((new_r01*x1415))+((new_r11*x1414)));
evalcond[7]=((1.0)+(((-1.0)*new_r10*x1416))+((new_r00*x1414)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j5)))), 6.28318530717959)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
if( IKabs(((-1.0)*new_r11)) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r01)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*new_r11))+IKsqr(((-1.0)*new_r01))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*new_r11), ((-1.0)*new_r01));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1417=IKcos(j3);
IkReal x1418=IKsin(j3);
IkReal x1419=((1.0)*x1417);
evalcond[0]=(x1417+new_r01);
evalcond[1]=(x1418+new_r11);
evalcond[2]=(x1417+new_r10);
evalcond[3]=(new_r00+(((-1.0)*x1418)));
evalcond[4]=(((new_r00*x1417))+((new_r10*x1418)));
evalcond[5]=((((-1.0)*new_r11*x1419))+((new_r01*x1418)));
evalcond[6]=((1.0)+((new_r01*x1417))+((new_r11*x1418)));
evalcond[7]=((-1.0)+(((-1.0)*new_r10*x1419))+((new_r00*x1418)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r11=0;
new_r00=0;
j3eval[0]=new_r10;
j3eval[1]=IKsign(new_r10);
j3eval[2]=((IKabs(cj5))+(IKabs(sj5)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r11=0;
new_r00=0;
j3eval[0]=new_r01;
j3eval[1]=IKsign(new_r01);
j3eval[2]=((IKabs(cj5))+(IKabs(sj5)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r11=0;
new_r00=0;
j3eval[0]=new_r01;
j3eval[1]=new_r10;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1420=IKPowWithIntegerCheck(new_r01,-1);
if(!x1420.valid){
continue;
}
CheckValue<IkReal> x1421=IKPowWithIntegerCheck(new_r10,-1);
if(!x1421.valid){
continue;
}
if( IKabs(((-1.0)*cj5*(x1420.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((sj5*(x1421.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*cj5*(x1420.value)))+IKsqr((sj5*(x1421.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*cj5*(x1420.value)), (sj5*(x1421.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x1422=IKsin(j3);
IkReal x1423=IKcos(j3);
IkReal x1424=((1.0)*sj5);
IkReal x1425=(cj5*x1422);
IkReal x1426=(x1423*x1424);
evalcond[0]=(cj5+((new_r01*x1422)));
evalcond[1]=(cj5+((new_r10*x1422)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x1423)));
evalcond[3]=(((new_r01*x1423))+(((-1.0)*x1424)));
evalcond[4]=(((sj5*x1422))+((cj5*x1423)));
evalcond[5]=(x1425+new_r01+(((-1.0)*x1426)));
evalcond[6]=(x1425+new_r10+(((-1.0)*x1426)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1427=IKPowWithIntegerCheck(IKsign(new_r01),-1);
if(!x1427.valid){
continue;
}
CheckValue<IkReal> x1428 = IKatan2WithCheck(IkReal(((-1.0)*cj5)),IkReal(sj5),IKFAST_ATAN2_MAGTHRESH);
if(!x1428.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1427.value)))+(x1428.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x1429=IKsin(j3);
IkReal x1430=IKcos(j3);
IkReal x1431=((1.0)*sj5);
IkReal x1432=(cj5*x1429);
IkReal x1433=(x1430*x1431);
evalcond[0]=(cj5+((new_r01*x1429)));
evalcond[1]=(cj5+((new_r10*x1429)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x1430)));
evalcond[3]=(((new_r01*x1430))+(((-1.0)*x1431)));
evalcond[4]=(((cj5*x1430))+((sj5*x1429)));
evalcond[5]=((((-1.0)*x1433))+x1432+new_r01);
evalcond[6]=((((-1.0)*x1433))+x1432+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1434=IKPowWithIntegerCheck(IKsign(new_r10),-1);
if(!x1434.valid){
continue;
}
CheckValue<IkReal> x1435 = IKatan2WithCheck(IkReal(((-1.0)*cj5)),IkReal(sj5),IKFAST_ATAN2_MAGTHRESH);
if(!x1435.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1434.value)))+(x1435.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x1436=IKsin(j3);
IkReal x1437=IKcos(j3);
IkReal x1438=((1.0)*sj5);
IkReal x1439=(cj5*x1436);
IkReal x1440=(x1437*x1438);
evalcond[0]=(cj5+((new_r01*x1436)));
evalcond[1]=(cj5+((new_r10*x1436)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x1437)));
evalcond[3]=(((new_r01*x1437))+(((-1.0)*x1438)));
evalcond[4]=(((sj5*x1436))+((cj5*x1437)));
evalcond[5]=(x1439+(((-1.0)*x1440))+new_r01);
evalcond[6]=(x1439+(((-1.0)*x1440))+new_r10);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r11=0;
new_r01=0;
new_r22=0;
new_r20=0;
j3eval[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1442 = IKatan2WithCheck(IkReal(new_r00),IkReal(new_r10),IKFAST_ATAN2_MAGTHRESH);
if(!x1442.valid){
continue;
}
IkReal x1441=x1442.value;
j3array[0]=((-1.0)*x1441);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x1441)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[1];
evalcond[0]=(((new_r00*(IKsin(j3))))+(((-1.0)*new_r10*(IKcos(j3)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r00=0;
new_r10=0;
new_r21=0;
new_r22=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1444 = IKatan2WithCheck(IkReal(new_r01),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x1444.valid){
continue;
}
IkReal x1443=x1444.value;
j3array[0]=((-1.0)*x1443);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x1443)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[1];
evalcond[0]=(((new_r01*(IKsin(j3))))+(((-1.0)*new_r11*(IKcos(j3)))));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r10))+(IKabs(new_r01)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[3];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r01=0;
new_r10=0;
j3eval[0]=new_r00;
j3eval[1]=IKsign(new_r00);
j3eval[2]=((IKabs(cj5))+(IKabs(sj5)));
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  || IKabs(j3eval[2]) < 0.0000010000000000  )
{
{
IkReal j3eval[2];
sj4=0;
cj4=-1.0;
j4=3.14159265358979;
new_r01=0;
new_r10=0;
j3eval[0]=new_r00;
j3eval[1]=new_r11;
if( IKabs(j3eval[0]) < 0.0000010000000000  || IKabs(j3eval[1]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1445=IKPowWithIntegerCheck(new_r00,-1);
if(!x1445.valid){
continue;
}
CheckValue<IkReal> x1446=IKPowWithIntegerCheck(new_r11,-1);
if(!x1446.valid){
continue;
}
if( IKabs(((-1.0)*sj5*(x1445.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs((cj5*(x1446.value))) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr(((-1.0)*sj5*(x1445.value)))+IKsqr((cj5*(x1446.value)))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2(((-1.0)*sj5*(x1445.value)), (cj5*(x1446.value)));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x1447=IKcos(j3);
IkReal x1448=IKsin(j3);
IkReal x1449=((1.0)*sj5);
IkReal x1450=(cj5*x1447);
IkReal x1451=((1.0)*x1447);
evalcond[0]=(sj5+((new_r00*x1448)));
evalcond[1]=(cj5+((new_r00*x1447)));
evalcond[2]=(cj5+(((-1.0)*new_r11*x1451)));
evalcond[3]=(((new_r11*x1448))+(((-1.0)*x1449)));
evalcond[4]=((((-1.0)*x1447*x1449))+((cj5*x1448)));
evalcond[5]=(((sj5*x1448))+x1450+new_r00);
evalcond[6]=((((-1.0)*x1450))+new_r11+(((-1.0)*x1448*x1449)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1452 = IKatan2WithCheck(IkReal(((-1.0)*sj5)),IkReal(((-1.0)*cj5)),IKFAST_ATAN2_MAGTHRESH);
if(!x1452.valid){
continue;
}
CheckValue<IkReal> x1453=IKPowWithIntegerCheck(IKsign(new_r00),-1);
if(!x1453.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1452.value)+(((1.5707963267949)*(x1453.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[7];
IkReal x1454=IKcos(j3);
IkReal x1455=IKsin(j3);
IkReal x1456=((1.0)*sj5);
IkReal x1457=(cj5*x1454);
IkReal x1458=((1.0)*x1454);
evalcond[0]=(sj5+((new_r00*x1455)));
evalcond[1]=(cj5+((new_r00*x1454)));
evalcond[2]=(cj5+(((-1.0)*new_r11*x1458)));
evalcond[3]=((((-1.0)*x1456))+((new_r11*x1455)));
evalcond[4]=(((cj5*x1455))+(((-1.0)*x1454*x1456)));
evalcond[5]=(((sj5*x1455))+x1457+new_r00);
evalcond[6]=((((-1.0)*x1457))+(((-1.0)*x1455*x1456))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
}
}
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1459=((1.0)*new_r00);
CheckValue<IkReal> x1460 = IKatan2WithCheck(IkReal(((((-1.0)*(cj5*cj5)))+(new_r00*new_r00))),IkReal(((((-1.0)*new_r10*x1459))+((cj5*sj5)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1460.valid){
continue;
}
CheckValue<IkReal> x1461=IKPowWithIntegerCheck(IKsign((((cj5*new_r10))+(((-1.0)*sj5*x1459)))),-1);
if(!x1461.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1460.value)+(((1.5707963267949)*(x1461.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1462=IKsin(j3);
IkReal x1463=IKcos(j3);
IkReal x1464=((1.0)*sj5);
IkReal x1465=(cj5*x1462);
IkReal x1466=((1.0)*x1463);
IkReal x1467=(x1463*x1464);
evalcond[0]=(((new_r00*x1463))+cj5+((new_r10*x1462)));
evalcond[1]=(((cj5*x1463))+new_r00+((sj5*x1462)));
evalcond[2]=((((-1.0)*new_r10*x1466))+((new_r00*x1462))+sj5);
evalcond[3]=(((new_r01*x1462))+cj5+(((-1.0)*new_r11*x1466)));
evalcond[4]=((((-1.0)*x1467))+x1465+new_r01);
evalcond[5]=((((-1.0)*x1467))+x1465+new_r10);
evalcond[6]=(((new_r01*x1463))+(((-1.0)*x1464))+((new_r11*x1462)));
evalcond[7]=((((-1.0)*cj5*x1466))+(((-1.0)*x1462*x1464))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1468=((1.0)*new_r10);
CheckValue<IkReal> x1469 = IKatan2WithCheck(IkReal((((new_r00*new_r01))+((cj5*sj5)))),IkReal(((((-1.0)*new_r01*x1468))+(cj5*cj5))),IKFAST_ATAN2_MAGTHRESH);
if(!x1469.valid){
continue;
}
CheckValue<IkReal> x1470=IKPowWithIntegerCheck(IKsign(((((-1.0)*cj5*new_r00))+(((-1.0)*sj5*x1468)))),-1);
if(!x1470.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1469.value)+(((1.5707963267949)*(x1470.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1471=IKsin(j3);
IkReal x1472=IKcos(j3);
IkReal x1473=((1.0)*sj5);
IkReal x1474=(cj5*x1471);
IkReal x1475=((1.0)*x1472);
IkReal x1476=(x1472*x1473);
evalcond[0]=(((new_r10*x1471))+cj5+((new_r00*x1472)));
evalcond[1]=(((cj5*x1472))+((sj5*x1471))+new_r00);
evalcond[2]=(sj5+((new_r00*x1471))+(((-1.0)*new_r10*x1475)));
evalcond[3]=(cj5+(((-1.0)*new_r11*x1475))+((new_r01*x1471)));
evalcond[4]=(x1474+(((-1.0)*x1476))+new_r01);
evalcond[5]=(x1474+(((-1.0)*x1476))+new_r10);
evalcond[6]=(((new_r11*x1471))+((new_r01*x1472))+(((-1.0)*x1473)));
evalcond[7]=((((-1.0)*x1471*x1473))+(((-1.0)*cj5*x1475))+new_r11);
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
IkReal x1477=((1.0)*new_r10);
CheckValue<IkReal> x1478 = IKatan2WithCheck(IkReal((((cj5*new_r11))+((cj5*new_r00)))),IkReal((((cj5*new_r01))+(((-1.0)*cj5*x1477)))),IKFAST_ATAN2_MAGTHRESH);
if(!x1478.valid){
continue;
}
CheckValue<IkReal> x1479=IKPowWithIntegerCheck(IKsign(((((-1.0)*new_r11*x1477))+(((-1.0)*new_r00*new_r01)))),-1);
if(!x1479.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(x1478.value)+(((1.5707963267949)*(x1479.value))));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[8];
IkReal x1480=IKsin(j3);
IkReal x1481=IKcos(j3);
IkReal x1482=((1.0)*sj5);
IkReal x1483=(cj5*x1480);
IkReal x1484=((1.0)*x1481);
IkReal x1485=(x1481*x1482);
evalcond[0]=(cj5+((new_r00*x1481))+((new_r10*x1480)));
evalcond[1]=(((cj5*x1481))+new_r00+((sj5*x1480)));
evalcond[2]=(sj5+(((-1.0)*new_r10*x1484))+((new_r00*x1480)));
evalcond[3]=(cj5+(((-1.0)*new_r11*x1484))+((new_r01*x1480)));
evalcond[4]=((((-1.0)*x1485))+x1483+new_r01);
evalcond[5]=((((-1.0)*x1485))+x1483+new_r10);
evalcond[6]=((((-1.0)*x1482))+((new_r11*x1480))+((new_r01*x1481)));
evalcond[7]=((((-1.0)*x1480*x1482))+new_r11+(((-1.0)*cj5*x1484)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
evalcond[0]=((IKabs(new_r12))+(IKabs(new_r02)));
if( IKabs(evalcond[0]) < 0.0000050000000000  )
{
bgotonextstatement=false;
{
IkReal j3eval[1];
new_r02=0;
new_r12=0;
new_r20=0;
new_r21=0;
j3eval[0]=((IKabs(new_r11))+(IKabs(new_r01)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
new_r02=0;
new_r12=0;
new_r20=0;
new_r21=0;
j3eval[0]=((IKabs(new_r10))+(IKabs(new_r00)));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
{
IkReal j3eval[1];
new_r02=0;
new_r12=0;
new_r20=0;
new_r21=0;
j3eval[0]=((IKabs((new_r10*new_r22)))+(IKabs((new_r00*new_r22))));
if( IKabs(j3eval[0]) < 0.0000010000000000  )
{
continue; // no branches [j3]
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
IkReal x1486=((-1.0)*new_r22);
CheckValue<IkReal> x1488 = IKatan2WithCheck(IkReal((new_r00*x1486)),IkReal((new_r10*x1486)),IKFAST_ATAN2_MAGTHRESH);
if(!x1488.valid){
continue;
}
IkReal x1487=x1488.value;
j3array[0]=((-1.0)*x1487);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x1487)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[5];
IkReal x1489=IKsin(j3);
IkReal x1490=IKcos(j3);
IkReal x1491=((1.0)*new_r11);
IkReal x1492=(new_r01*x1490);
evalcond[0]=(((new_r11*x1489))+x1492);
evalcond[1]=(((new_r00*x1490))+((new_r10*x1489)));
evalcond[2]=(((new_r00*x1489))+(((-1.0)*new_r10*x1490)));
evalcond[3]=(((new_r01*x1489))+(((-1.0)*x1490*x1491)));
evalcond[4]=((((-1.0)*new_r22*x1492))+(((-1.0)*new_r22*x1489*x1491)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1494 = IKatan2WithCheck(IkReal(new_r00),IkReal(new_r10),IKFAST_ATAN2_MAGTHRESH);
if(!x1494.valid){
continue;
}
IkReal x1493=x1494.value;
j3array[0]=((-1.0)*x1493);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x1493)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[5];
IkReal x1495=IKsin(j3);
IkReal x1496=IKcos(j3);
IkReal x1497=((1.0)*x1496);
IkReal x1498=((1.0)*new_r22*x1495);
evalcond[0]=(((new_r01*x1496))+((new_r11*x1495)));
evalcond[1]=((((-1.0)*new_r10*x1497))+((new_r00*x1495)));
evalcond[2]=(((new_r01*x1495))+(((-1.0)*new_r11*x1497)));
evalcond[3]=((((-1.0)*new_r10*x1498))+(((-1.0)*new_r00*new_r22*x1497)));
evalcond[4]=((((-1.0)*new_r11*x1498))+(((-1.0)*new_r01*new_r22*x1497)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[2], cj3array[2], sj3array[2];
bool j3valid[2]={false};
_nj3 = 2;
CheckValue<IkReal> x1500 = IKatan2WithCheck(IkReal(new_r01),IkReal(new_r11),IKFAST_ATAN2_MAGTHRESH);
if(!x1500.valid){
continue;
}
IkReal x1499=x1500.value;
j3array[0]=((-1.0)*x1499);
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
j3array[1]=((3.14159265358979)+(((-1.0)*x1499)));
sj3array[1]=IKsin(j3array[1]);
cj3array[1]=IKcos(j3array[1]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
if( j3array[1] > IKPI )
{
    j3array[1]-=IK2PI;
}
else if( j3array[1] < -IKPI )
{    j3array[1]+=IK2PI;
}
j3valid[1] = true;
for(int ij3 = 0; ij3 < 2; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 2; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[5];
IkReal x1501=IKsin(j3);
IkReal x1502=IKcos(j3);
IkReal x1503=((1.0)*new_r22);
IkReal x1504=(new_r10*x1501);
IkReal x1505=((1.0)*x1502);
IkReal x1506=(new_r00*x1502);
evalcond[0]=(x1506+x1504);
evalcond[1]=((((-1.0)*new_r10*x1505))+((new_r00*x1501)));
evalcond[2]=((((-1.0)*new_r11*x1505))+((new_r01*x1501)));
evalcond[3]=((((-1.0)*x1503*x1506))+(((-1.0)*x1503*x1504)));
evalcond[4]=((((-1.0)*new_r11*x1501*x1503))+(((-1.0)*new_r01*x1502*x1503)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
}
} while(0);
if( bgotonextstatement )
{
bool bgotonextstatement = true;
do
{
if( 1 )
{
bgotonextstatement=false;
continue; // branch miss [j3]
 
}
} while(0);
if( bgotonextstatement )
{
}
}
}
}
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1508=IKPowWithIntegerCheck(sj4,-1);
if(!x1508.valid){
continue;
}
IkReal x1507=x1508.value;
CheckValue<IkReal> x1509=IKPowWithIntegerCheck(new_r12,-1);
if(!x1509.valid){
continue;
}
if( IKabs((x1507*(x1509.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4))))) < IKFAST_ATAN2_MAGTHRESH && IKabs(((-1.0)*new_r02*x1507)) < IKFAST_ATAN2_MAGTHRESH && IKabs(IKsqr((x1507*(x1509.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4)))))+IKsqr(((-1.0)*new_r02*x1507))-1) <= IKFAST_SINCOS_THRESH )
    continue;
j3array[0]=IKatan2((x1507*(x1509.value)*(((-1.0)+(new_r02*new_r02)+(cj4*cj4)))), ((-1.0)*new_r02*x1507));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[18];
IkReal x1510=IKcos(j3);
IkReal x1511=IKsin(j3);
IkReal x1512=(cj4*cj5);
IkReal x1513=(cj4*sj5);
IkReal x1514=((1.0)*new_r20);
IkReal x1515=((1.0)*cj4);
IkReal x1516=((1.0)*sj4);
IkReal x1517=(sj4*x1511);
IkReal x1518=((1.0)*x1510);
IkReal x1519=(sj4*x1510);
IkReal x1520=(x1511*x1515);
evalcond[0]=(x1519+new_r02);
evalcond[1]=(x1517+new_r12);
evalcond[2]=((((-1.0)*new_r02*x1511))+((new_r12*x1510)));
evalcond[3]=(sj4+((new_r02*x1510))+((new_r12*x1511)));
evalcond[4]=(sj5+(((-1.0)*new_r10*x1518))+((new_r00*x1511)));
evalcond[5]=((((-1.0)*new_r11*x1518))+cj5+((new_r01*x1511)));
evalcond[6]=(((x1510*x1513))+((cj5*x1511))+new_r01);
evalcond[7]=(x1513+((new_r01*x1510))+((new_r11*x1511)));
evalcond[8]=(((sj5*x1511))+(((-1.0)*x1512*x1518))+new_r00);
evalcond[9]=((((-1.0)*cj5*x1518))+new_r11+((x1511*x1513)));
evalcond[10]=(((new_r10*x1511))+(((-1.0)*x1512))+((new_r00*x1510)));
evalcond[11]=((((-1.0)*x1511*x1512))+(((-1.0)*sj5*x1518))+new_r10);
evalcond[12]=(((new_r10*x1517))+(((-1.0)*cj4*x1514))+((new_r00*x1519)));
evalcond[13]=((((-1.0)*new_r21*x1515))+((new_r01*x1519))+((new_r11*x1517)));
evalcond[14]=((1.0)+(((-1.0)*new_r22*x1515))+((new_r02*x1519))+((new_r12*x1517)));
evalcond[15]=((((-1.0)*new_r22*x1516))+(((-1.0)*new_r12*x1520))+(((-1.0)*new_r02*x1510*x1515)));
evalcond[16]=(cj5+(((-1.0)*new_r00*x1510*x1515))+(((-1.0)*sj4*x1514))+(((-1.0)*new_r10*x1520)));
evalcond[17]=((((-1.0)*sj5))+(((-1.0)*new_r11*x1520))+(((-1.0)*new_r21*x1516))+(((-1.0)*new_r01*x1510*x1515)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[12]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[13]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[14]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[15]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[16]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[17]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
 
} else
{
{
IkReal j3array[1], cj3array[1], sj3array[1];
bool j3valid[1]={false};
_nj3 = 1;
CheckValue<IkReal> x1521=IKPowWithIntegerCheck(IKsign(sj4),-1);
if(!x1521.valid){
continue;
}
CheckValue<IkReal> x1522 = IKatan2WithCheck(IkReal(((-1.0)*new_r12)),IkReal(((-1.0)*new_r02)),IKFAST_ATAN2_MAGTHRESH);
if(!x1522.valid){
continue;
}
j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x1521.value)))+(x1522.value));
sj3array[0]=IKsin(j3array[0]);
cj3array[0]=IKcos(j3array[0]);
if( j3array[0] > IKPI )
{
    j3array[0]-=IK2PI;
}
else if( j3array[0] < -IKPI )
{    j3array[0]+=IK2PI;
}
j3valid[0] = true;
for(int ij3 = 0; ij3 < 1; ++ij3)
{
if( !j3valid[ij3] )
{
    continue;
}
_ij3[0] = ij3; _ij3[1] = -1;
for(int iij3 = ij3+1; iij3 < 1; ++iij3)
{
if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH )
{
    j3valid[iij3]=false; _ij3[1] = iij3; break;
}
}
j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3];
{
IkReal evalcond[18];
IkReal x1523=IKcos(j3);
IkReal x1524=IKsin(j3);
IkReal x1525=(cj4*cj5);
IkReal x1526=(cj4*sj5);
IkReal x1527=((1.0)*new_r20);
IkReal x1528=((1.0)*cj4);
IkReal x1529=((1.0)*sj4);
IkReal x1530=(sj4*x1524);
IkReal x1531=((1.0)*x1523);
IkReal x1532=(sj4*x1523);
IkReal x1533=(x1524*x1528);
evalcond[0]=(x1532+new_r02);
evalcond[1]=(x1530+new_r12);
evalcond[2]=(((new_r12*x1523))+(((-1.0)*new_r02*x1524)));
evalcond[3]=(((new_r12*x1524))+sj4+((new_r02*x1523)));
evalcond[4]=((((-1.0)*new_r10*x1531))+sj5+((new_r00*x1524)));
evalcond[5]=(cj5+((new_r01*x1524))+(((-1.0)*new_r11*x1531)));
evalcond[6]=(((x1523*x1526))+((cj5*x1524))+new_r01);
evalcond[7]=(((new_r01*x1523))+x1526+((new_r11*x1524)));
evalcond[8]=(((sj5*x1524))+(((-1.0)*x1525*x1531))+new_r00);
evalcond[9]=(((x1524*x1526))+(((-1.0)*cj5*x1531))+new_r11);
evalcond[10]=(((new_r00*x1523))+((new_r10*x1524))+(((-1.0)*x1525)));
evalcond[11]=((((-1.0)*x1524*x1525))+new_r10+(((-1.0)*sj5*x1531)));
evalcond[12]=((((-1.0)*cj4*x1527))+((new_r00*x1532))+((new_r10*x1530)));
evalcond[13]=((((-1.0)*new_r21*x1528))+((new_r01*x1532))+((new_r11*x1530)));
evalcond[14]=((1.0)+((new_r02*x1532))+(((-1.0)*new_r22*x1528))+((new_r12*x1530)));
evalcond[15]=((((-1.0)*new_r02*x1523*x1528))+(((-1.0)*new_r22*x1529))+(((-1.0)*new_r12*x1533)));
evalcond[16]=((((-1.0)*new_r10*x1533))+(((-1.0)*sj4*x1527))+cj5+(((-1.0)*new_r00*x1523*x1528)));
evalcond[17]=((((-1.0)*sj5))+(((-1.0)*new_r21*x1529))+(((-1.0)*new_r01*x1523*x1528))+(((-1.0)*new_r11*x1533)));
if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[8]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[9]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[10]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[11]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[12]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[13]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[14]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[15]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[16]) > IKFAST_EVALCOND_THRESH  || IKabs(evalcond[17]) > IKFAST_EVALCOND_THRESH  )
{
continue;
}
}
 
{
std::vector<IkSingleDOFSolutionBase<IkReal> > vinfos(6);
vinfos[0].jointtype = 1;
vinfos[0].foffset = j0;
vinfos[0].indices[0] = _ij0[0];
vinfos[0].indices[1] = _ij0[1];
vinfos[0].maxsolutions = _nj0;
vinfos[1].jointtype = 1;
vinfos[1].foffset = j1;
vinfos[1].indices[0] = _ij1[0];
vinfos[1].indices[1] = _ij1[1];
vinfos[1].maxsolutions = _nj1;
vinfos[2].jointtype = 1;
vinfos[2].foffset = j2;
vinfos[2].indices[0] = _ij2[0];
vinfos[2].indices[1] = _ij2[1];
vinfos[2].maxsolutions = _nj2;
vinfos[3].jointtype = 1;
vinfos[3].foffset = j3;
vinfos[3].indices[0] = _ij3[0];
vinfos[3].indices[1] = _ij3[1];
vinfos[3].maxsolutions = _nj3;
vinfos[4].jointtype = 1;
vinfos[4].foffset = j4;
vinfos[4].indices[0] = _ij4[0];
vinfos[4].indices[1] = _ij4[1];
vinfos[4].maxsolutions = _nj4;
vinfos[5].jointtype = 1;
vinfos[5].foffset = j5;
vinfos[5].indices[0] = _ij5[0];
vinfos[5].indices[1] = _ij5[1];
vinfos[5].maxsolutions = _nj5;
std::vector<int> vfree(0);
solutions.AddSolution(vinfos,vfree);
}
}
}
 
}
 
}
}
}
 
}
 
}
}
}
}
}static inline void polyroots3(IkReal rawcoeffs[3+1], IkReal rawroots[3], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots2(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[3];
    const int maxsteps = 110;
    for(int i = 0; i < 3; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[3];
    IkReal err[3];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 3; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 3; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 3; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 3; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }
 
    numroots = 0;
    bool visited[3] = {false};
    for(int i = 0; i < 3; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 3; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
static inline void polyroots2(IkReal rawcoeffs[2+1], IkReal rawroots[2], int& numroots) {
    IkReal det = rawcoeffs[1]*rawcoeffs[1]-4*rawcoeffs[0]*rawcoeffs[2];
    if( det < 0 ) {
        numroots=0;
    }
    else if( det == 0 ) {
        rawroots[0] = -0.5*rawcoeffs[1]/rawcoeffs[0];
        numroots = 1;
    }
    else {
        det = IKsqrt(det);
        rawroots[0] = (-rawcoeffs[1]+det)/(2*rawcoeffs[0]);
        rawroots[1] = (-rawcoeffs[1]-det)/(2*rawcoeffs[0]);//rawcoeffs[2]/(rawcoeffs[0]*rawroots[0]);
        numroots = 2;
    }
}
static inline void polyroots4(IkReal rawcoeffs[4+1], IkReal rawroots[4], int& numroots)
{
    using std::complex;
    if( rawcoeffs[0] == 0 ) {
        // solve with one reduced degree
        polyroots3(&rawcoeffs[1], &rawroots[0], numroots);
        return;
    }
    IKFAST_ASSERT(rawcoeffs[0] != 0);
    const IkReal tol = 128.0*std::numeric_limits<IkReal>::epsilon();
    const IkReal tolsqrt = sqrt(std::numeric_limits<IkReal>::epsilon());
    complex<IkReal> coeffs[4];
    const int maxsteps = 110;
    for(int i = 0; i < 4; ++i) {
        coeffs[i] = complex<IkReal>(rawcoeffs[i+1]/rawcoeffs[0]);
    }
    complex<IkReal> roots[4];
    IkReal err[4];
    roots[0] = complex<IkReal>(1,0);
    roots[1] = complex<IkReal>(0.4,0.9); // any complex number not a root of unity works
    err[0] = 1.0;
    err[1] = 1.0;
    for(int i = 2; i < 4; ++i) {
        roots[i] = roots[i-1]*roots[1];
        err[i] = 1.0;
    }
    for(int step = 0; step < maxsteps; ++step) {
        bool changed = false;
        for(int i = 0; i < 4; ++i) {
            if ( err[i] >= tol ) {
                changed = true;
                // evaluate
                complex<IkReal> x = roots[i] + coeffs[0];
                for(int j = 1; j < 4; ++j) {
                    x = roots[i] * x + coeffs[j];
                }
                for(int j = 0; j < 4; ++j) {
                    if( i != j ) {
                        if( roots[i] != roots[j] ) {
                            x /= (roots[i] - roots[j]);
                        }
                    }
                }
                roots[i] -= x;
                err[i] = abs(x);
            }
        }
        if( !changed ) {
            break;
        }
    }
 
    numroots = 0;
    bool visited[4] = {false};
    for(int i = 0; i < 4; ++i) {
        if( !visited[i] ) {
            // might be a multiple root, in which case it will have more error than the other roots
            // find any neighboring roots, and take the average
            complex<IkReal> newroot=roots[i];
            int n = 1;
            for(int j = i+1; j < 4; ++j) {
                // care about error in real much more than imaginary
                if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) {
                    newroot += roots[j];
                    n += 1;
                    visited[j] = true;
                }
            }
            if( n > 1 ) {
                newroot /= n;
            }
            // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt
            if( IKabs(imag(newroot)) < tolsqrt ) {
                rawroots[numroots++] = real(newroot);
            }
        }
    }
}
};
 

IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions) {
IKSolver solver;
return solver.ComputeIk(eetrans,eerot,pfree,solutions);
}
 
IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase<IkReal>& solutions, void* /* unused */) {
IKSolver solver;
return solver.ComputeIk(eetrans,eerot,pfree,solutions);
}
 
IKFAST_API const char* GetKinematicsHash() { return "<robot:GenericRobot - prbt (11ad975bd60aa3f28e8d228465d0f213)>"; }
 
IKFAST_API const char* GetIkFastVersion() { return "0x1000004a"; }
 
#ifdef IKFAST_NAMESPACE
} // end namespace
#endif
 
#ifndef IKFAST_NO_MAIN
#include <stdio.h>
#include <stdlib.h>
#ifdef IKFAST_NAMESPACE
using namespace IKFAST_NAMESPACE;
#endif
int main(int argc, char** argv)
{
    if( argc != 12+GetNumFreeParameters()+1 ) {
        printf("\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n"
               "Returns the ik solutions given the transformation of the end effector specified by\n"
               "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n"
               "There are %d free parameters that have to be specified.\n\n",GetNumFreeParameters());
        return 1;
    }
 
    IkSolutionList<IkReal> solutions;
    std::vector<IkReal> vfree(GetNumFreeParameters());
    IkReal eerot[9],eetrans[3];
    eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]);
    eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]);
    eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]);
    for(std::size_t i = 0; i < vfree.size(); ++i)
        vfree[i] = atof(argv[13+i]);
    bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : nullptr, solutions);
 
    if( !bSuccess ) {
        fprintf(stderr,"Failed to get ik solution\n");
        return -1;
    }
 
    printf("Found %d ik solutions:\n", static_cast<int>(solutions.GetNumSolutions()));
    std::vector<IkReal> solvalues(GetNumJoints());
    for(std::size_t i = 0; i < solutions.GetNumSolutions(); ++i) {
        const IkSolutionBase<IkReal>& sol = solutions.GetSolution(i);
        printf("sol%d (free=%d): ", static_cast<int>(i), static_cast<int>(sol.GetFree().size()));
        std::vector<IkReal> vsolfree(sol.GetFree().size());
        sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:nullptr);
        for( std::size_t j = 0; j < solvalues.size(); ++j)
            printf("%.15f, ", solvalues[j]);
        printf("\n");
    }
    return 0;
}
 
#endif