ikfast.h
/tmp/ws/src/pincher_arm/pincher_arm_ikfast_plugin/include/
ikfast_8h.html
ikfast::IkFastFunctions
ikfast::IkSingleDOFSolutionBase
ikfast::IkSolution
ikfast::IkSolutionBase
ikfast::IkSolutionList
ikfast::IkSolutionListBase
ikfast
#define
IKFAST_VERSION
ikfast_8h.html
afb507c47cee8d15d0241aa894bef5a67
pincher_arm_arm_ikfast_moveit_plugin.cpp
/tmp/ws/src/pincher_arm/pincher_arm_ikfast_plugin/src/
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
pincher_arm_arm_ikfast_solver.cpp
pincher_arm_arm::IKFastKinematicsPlugin
pincher_arm_arm::LimitObeyingSol
pincher_arm_arm
#define
IKFAST_NO_MAIN
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
a2acf0f2516ebf5481d4db7f86f4d0da6
IkParameterizationType
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058
IKP_None
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058aa83db5b360690ff6fe37c0dd1073377a
IKP_Transform6D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a550adfc176f430fd7c3a8f364e12629c
IKP_Rotation3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a52e5287f7844921f0e6cce5fb08ba122
IKP_Translation3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058afa437f0994af8c3ae1c0364c6a066d9f
IKP_Direction3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a64aaf6a2da2a418dfc6edd8f7c944765
IKP_Ray4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a3555ce3a05984e6dcd7380a561ca427a
IKP_Lookat3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058ad3f06c77d9abac426865407c99fecd6c
IKP_TranslationDirection5D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a82816ad183d55f844966d94348b39a89
IKP_TranslationXY2D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058adf37d6b8be0b5908d4cb1c2ae8e77d27
IKP_TranslationXYOrientation3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a6c4672e08d86940b6d1678ac9eda8328
IKP_TranslationLocalGlobal6D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058ae11331ae91e146c6b95a970f8573f3db
IKP_TranslationXAxisAngle4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a85e83965715d331c9cf3b74d7eaf15f7
IKP_TranslationYAxisAngle4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058ac606b544abb9ebdedb41caf99e731b94
IKP_TranslationZAxisAngle4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a3b0112465a0356d36416a871a87afa4b
IKP_TranslationXAxisAngleZNorm4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a64e5d0814ac8e1b1cfed433e9f9d1bc4
IKP_TranslationYAxisAngleXNorm4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058aff2209da31bc4152f44818c84815df4d
IKP_TranslationZAxisAngleYNorm4D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a926d53c0c7319405f0c7ef7f22d2b0d2
IKP_NumberOfParameterizations
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a8be1c7a55bfa816dbdbaa52868c9f8e0
IKP_VelocityDataBit
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a686bb092c636f21bc81e021ffc04551b
IKP_Transform6DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a30b90655b1f304b8954e87a844f18301
IKP_Rotation3DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a47082a85e8278ee7960b1a8fae751f32
IKP_Translation3DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a896bfac846d6e9409542432fc5948b85
IKP_Direction3DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a7519fd71a84b4fc342745e4864beb39a
IKP_Ray4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058aeaf760164bcee435e58c0bca1a6a3aad
IKP_Lookat3DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058add1fc843104a39350ed3beab9a4faee4
IKP_TranslationDirection5DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a488b6686ade5133230a29f71e83af8b1
IKP_TranslationXY2DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058ad8b47938a24a3c52d2cd84c27586a572
IKP_TranslationXYOrientation3DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058abc5784ec5eac5afdd8532f7d1d7e18fe
IKP_TranslationLocalGlobal6DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058afe0dea71d793b6bc84c40a9cebfdbc75
IKP_TranslationXAxisAngle4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058acf9b6bc0e66f5692404865853eb6f3fa
IKP_TranslationYAxisAngle4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a1482749064ec3c87bbc80bd7ac8ef4fd
IKP_TranslationZAxisAngle4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a19fbd2bd57db5a8badf42d8726b502e9
IKP_TranslationXAxisAngleZNorm4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a04c4ad4b1ed67ed01ad7aec1bb6952f0
IKP_TranslationYAxisAngleXNorm4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a4d9cd535af88c207bd7ebcc9e88eeefb
IKP_TranslationZAxisAngleYNorm4DVelocity
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a73aac27ec543ad7016c5f3e9a17c5aae
IKP_UniqueIdMask
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a2dd6bb631f3fe61a4845cc8ec595fda6
IKP_CustomDataBit
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058aa7b9f75b39755527050d3f921ab746f0
SEARCH_MODE
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43d
OPTIMIZE_FREE_JOINT
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43da257354ce1bd1b71c18c1f02e5c615dcc
OPTIMIZE_MAX_JOINT
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
a7e3e138f11a31c3d463b94d39ee5f43dacf12e2a0ff681edbb1582e9afc627d90
PLUGINLIB_EXPORT_CLASS
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
aff51d3295757497d87453da756c034ed
(pincher_arm_arm::IKFastKinematicsPlugin, kinematics::KinematicsBase)
const double
LIMIT_TOLERANCE
pincher__arm__arm__ikfast__moveit__plugin_8cpp.html
a6db90f19cce82ba375acd26f431403b6
pincher_arm_arm_ikfast_solver.cpp
/tmp/ws/src/pincher_arm/pincher_arm_ikfast_plugin/src/
pincher__arm__arm__ikfast__solver_8cpp.html
ikfast.h
CheckValue
IKSolver
#define
__PRETTY_FUNCTION__
pincher__arm__arm__ikfast__solver_8cpp.html
a9c15fe1e91b07ea3280f5239f9841b67
#define
IK2PI
pincher__arm__arm__ikfast__solver_8cpp.html
ad6a7e3ecef3983ec46a211ee00f30364
#define
IKFAST_ALIGNED16
pincher__arm__arm__ikfast__solver_8cpp.html
a3940302e120211bb7af8a8a8290bb9e8
(x)
#define
IKFAST_ASSERT
pincher__arm__arm__ikfast__solver_8cpp.html
af4e88f631e5a9381055a48fc90f3a633
(b)
#define
IKFAST_ATAN2_MAGTHRESH
pincher__arm__arm__ikfast__solver_8cpp.html
a0b03d83cf16b77e025d2100621f1f321
#define
IKFAST_COMPILE_ASSERT
pincher__arm__arm__ikfast__solver_8cpp.html
a14ff3dec1d7bf1b6f8bc3a7dcc0ed883
(x)
#define
IKFAST_EVALCOND_THRESH
pincher__arm__arm__ikfast__solver_8cpp.html
a6e9c1fe901fde05201a0260782c920be
#define
IKFAST_HAS_LIBRARY
pincher__arm__arm__ikfast__solver_8cpp.html
aa9b5df21ca9479bf3deaa7da9845cd6c
#define
IKFAST_SINCOS_THRESH
pincher__arm__arm__ikfast__solver_8cpp.html
a66d4d0ad56673a9555ebafe898d1e2c6
#define
IKFAST_SOLUTION_THRESH
pincher__arm__arm__ikfast__solver_8cpp.html
adac93ad3ac22e016e6d690887e8688ba
#define
IKPI
pincher__arm__arm__ikfast__solver_8cpp.html
a0975daf07554eaa98742b83ae89344e6
#define
IKPI_2
pincher__arm__arm__ikfast__solver_8cpp.html
a45ed2f0e7e8e411264ebad95010986a7
IKFAST_API void
ComputeFk
pincher__arm__arm__ikfast__solver_8cpp.html
ac5b257dc48deeb1c904d40b5dbf4a5a4
(const IkReal *j, IkReal *eetrans, IkReal *eerot)
IKFAST_API bool
ComputeIk
pincher__arm__arm__ikfast__solver_8cpp.html
ad6e97fc303efda1a956b9a044f8424fc
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
IKFAST_API bool
ComputeIk2
pincher__arm__arm__ikfast__solver_8cpp.html
a0657832109f0b05edc3d2b70d8ecc5ac
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions, void *pOpenRAVEManip)
void
dgeev_
pincher__arm__arm__ikfast__solver_8cpp.html
ae833a06f7ce2542df24b072e9c61d4e6
(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi, double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info)
void
dgesv_
pincher__arm__arm__ikfast__solver_8cpp.html
a8a0c34faf9ee31a4d83412a2b5d58125
(const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
void
dgetrf_
pincher__arm__arm__ikfast__solver_8cpp.html
a1173528e396c678a5482bae5e7f6e43e
(const int *m, const int *n, double *a, const int *lda, int *ipiv, int *info)
void
dgetri_
pincher__arm__arm__ikfast__solver_8cpp.html
a8a0a23abeb2b5f4d136f544560421d68
(const int *n, const double *a, const int *lda, int *ipiv, double *work, const int *lwork, int *info)
void
dgetrs_
pincher__arm__arm__ikfast__solver_8cpp.html
a1a2d74eb3410ef5bee213fce4b1f6443
(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info)
IKFAST_API int *
GetFreeParameters
pincher__arm__arm__ikfast__solver_8cpp.html
a17f253d85cd4ac00e8840c417eef2487
()
const IKFAST_API char *
GetIkFastVersion
pincher__arm__arm__ikfast__solver_8cpp.html
a6affa3876127bec46c92ac30669c3fcf
()
IKFAST_API int
GetIkRealSize
pincher__arm__arm__ikfast__solver_8cpp.html
a6709f20b26f0903f0aa58a26934c853c
()
IKFAST_API int
GetIkType
pincher__arm__arm__ikfast__solver_8cpp.html
abc401850b948d5a0402e9dbb77d3846f
()
const IKFAST_API char *
GetKinematicsHash
pincher__arm__arm__ikfast__solver_8cpp.html
a60bfc91584dcf60d86a5bede8189d2fd
()
IKFAST_API int
GetNumFreeParameters
pincher__arm__arm__ikfast__solver_8cpp.html
af0cf03d3ad69d099a9a2eb6db5e5b352
()
IKFAST_API int
GetNumJoints
pincher__arm__arm__ikfast__solver_8cpp.html
a3e9541dde410904e043fe18701061b62
()
double
IKabs
pincher__arm__arm__ikfast__solver_8cpp.html
a95e1896df0cdeedf37f08dcb341b3918
(double f)
float
IKabs
pincher__arm__arm__ikfast__solver_8cpp.html
af50774e991c9af3d423e2f15a1864fcd
(float f)
double
IKacos
pincher__arm__arm__ikfast__solver_8cpp.html
a10d86f8d485d2f30ce2638cb94b1e20e
(double f)
float
IKacos
pincher__arm__arm__ikfast__solver_8cpp.html
a6985b623469662633075c50b708b5a97
(float f)
double
IKasin
pincher__arm__arm__ikfast__solver_8cpp.html
abb5416a593fd7617f75130836a9f5491
(double f)
float
IKasin
pincher__arm__arm__ikfast__solver_8cpp.html
a159f6680a5e7eb9da0d76bfce5461050
(float f)
double
IKatan2
pincher__arm__arm__ikfast__solver_8cpp.html
a82c3e90527cb705afd35438841994aa2
(double fy, double fx)
float
IKatan2
pincher__arm__arm__ikfast__solver_8cpp.html
a5e00463327d5e1acfd4e8eb788bbd6ac
(float fy, float fx)
double
IKatan2Simple
pincher__arm__arm__ikfast__solver_8cpp.html
a3ef91ca6735fc89a591ce04038c85ccf
(double fy, double fx)
float
IKatan2Simple
pincher__arm__arm__ikfast__solver_8cpp.html
a1bbba04cc5114eb36e98181457e9f535
(float fy, float fx)
CheckValue< T >
IKatan2WithCheck
pincher__arm__arm__ikfast__solver_8cpp.html
a2ee5f6ce877a26fda36feee121d53853
(T fy, T fx, T epsilon)
double
IKcos
pincher__arm__arm__ikfast__solver_8cpp.html
ac925942daf5e1b7df0c38f2a7a501ac0
(double f)
float
IKcos
pincher__arm__arm__ikfast__solver_8cpp.html
a8d241417f26868995cfb5a5648816e63
(float f)
IKFAST_COMPILE_ASSERT
pincher__arm__arm__ikfast__solver_8cpp.html
afc297e95128c8791d8660944bbc877eb
(IKFAST_VERSION==0x10000049)
double
IKfmod
pincher__arm__arm__ikfast__solver_8cpp.html
a1ec8174f881fb22cf1a7cdf19b9a84ad
(double x, double y)
float
IKfmod
pincher__arm__arm__ikfast__solver_8cpp.html
a8af0ce9307f58d1e64bb413077478244
(float x, float y)
double
IKlog
pincher__arm__arm__ikfast__solver_8cpp.html
a429184284f7e6da54369a2290d8da22d
(double f)
float
IKlog
pincher__arm__arm__ikfast__solver_8cpp.html
ae5812d083cf95d2945bbd8b75c38d7cd
(float f)
CheckValue< T >
IKPowWithIntegerCheck
pincher__arm__arm__ikfast__solver_8cpp.html
aa90320376a56efda3a751c3f5d86fc26
(T f, int n)
double
IKsign
pincher__arm__arm__ikfast__solver_8cpp.html
a903ab9632f6846449bbb3a8bba65ad8e
(double f)
float
IKsign
pincher__arm__arm__ikfast__solver_8cpp.html
a845afc8ffdb8c068f0e75abac0d78b15
(float f)
double
IKsin
pincher__arm__arm__ikfast__solver_8cpp.html
a8a11e6f22a19bd8f4ac73c3645c93c81
(double f)
float
IKsin
pincher__arm__arm__ikfast__solver_8cpp.html
a7b5e881d13d85a4bc1020963f9e605b5
(float f)
double
IKsqr
pincher__arm__arm__ikfast__solver_8cpp.html
a95d600e8b1f9ee1b1f0d8919b31f1ce0
(double f)
float
IKsqr
pincher__arm__arm__ikfast__solver_8cpp.html
ab527b2a76479c7f6ef9545b3c41a3b37
(float f)
double
IKsqrt
pincher__arm__arm__ikfast__solver_8cpp.html
abb830ca15935c1c9b95a2ede5b2d43cc
(double f)
float
IKsqrt
pincher__arm__arm__ikfast__solver_8cpp.html
a6f476874d10b265f6b0e6409104126b7
(float f)
double
IKtan
pincher__arm__arm__ikfast__solver_8cpp.html
acd8f1e5b83501cc42ffef27bd6458f9a
(double f)
float
IKtan
pincher__arm__arm__ikfast__solver_8cpp.html
ad2361d774d694b5935519a1b3c1075f9
(float f)
int
main
pincher__arm__arm__ikfast__solver_8cpp.html
a3c04138a5bfe5d72780bb7e82a18e627
(int argc, char **argv)
void
zgetrf_
pincher__arm__arm__ikfast__solver_8cpp.html
a6993bc2ff3751954630153bfd08bdd0b
(const int *m, const int *n, std::complex< double > *a, const int *lda, int *ipiv, int *info)
CheckValue
structCheckValue.html
bool
valid
structCheckValue.html
a3be5a3feb4357bf37b01eef7fd5cc767
T
value
structCheckValue.html
a96d0c95abbb5c848c92f09df55d253a1
ikfast::IkFastFunctions
classikfast_1_1IkFastFunctions.html
void(*
ComputeFkFn
classikfast_1_1IkFastFunctions.html
a64230b13b0cf43660d806a334fa3a304
)(const T *, T *, T *)
bool(*
ComputeIkFn
classikfast_1_1IkFastFunctions.html
aed283615c59d1cf876a7640a7b245a4b
)(const T *, const T *, const T *, IkSolutionListBase< T > &)
int *(*
GetFreeParametersFn
classikfast_1_1IkFastFunctions.html
ac08677cae4d5c096a210b0748b053b94
)()
int(*
GetIkRealSizeFn
classikfast_1_1IkFastFunctions.html
a4430676454369afb285aead8a6a4e6c6
)()
int(*
GetIkTypeFn
classikfast_1_1IkFastFunctions.html
a913b447c96c988e2df6a55ad5c7223b2
)()
int(*
GetNumFreeParametersFn
classikfast_1_1IkFastFunctions.html
a58ce4fc02928e9474fb07879df050b3d
)()
int(*
GetNumJointsFn
classikfast_1_1IkFastFunctions.html
a1c8f833a979943fcd89ab3bbb559ed3c
)()
IkFastFunctions
classikfast_1_1IkFastFunctions.html
ae5fdd9b86135849b887ae95f8abdfcee
()
virtual
~IkFastFunctions
classikfast_1_1IkFastFunctions.html
a811179abadd14264edd35248914e65bd
()
ComputeFkFn
_ComputeFk
classikfast_1_1IkFastFunctions.html
a5a30a89afe6314eb86a05c3bd5a1a303
ComputeIkFn
_ComputeIk
classikfast_1_1IkFastFunctions.html
a75775a9a8c284f52cb6cc473c434163c
GetFreeParametersFn
_GetFreeParameters
classikfast_1_1IkFastFunctions.html
a2c57255d31921839afb1ed5c5f86c7cc
GetIkFastVersionFn
_GetIkFastVersion
classikfast_1_1IkFastFunctions.html
a1deac46b905d3d6fa2186e4fb52a75a4
GetIkRealSizeFn
_GetIkRealSize
classikfast_1_1IkFastFunctions.html
a6e0b57e5123af02f5d27c894eac23181
GetIkTypeFn
_GetIkType
classikfast_1_1IkFastFunctions.html
a22b3424efa52b1c611ad6ec426259aca
GetKinematicsHashFn
_GetKinematicsHash
classikfast_1_1IkFastFunctions.html
a838b34f459abceb7b0f537ad3d4f834b
GetNumFreeParametersFn
_GetNumFreeParameters
classikfast_1_1IkFastFunctions.html
ac78c6f4a428df5b34944510af3abd68f
GetNumJointsFn
_GetNumJoints
classikfast_1_1IkFastFunctions.html
aa7aadc4d797b2ecc3811a7887b0b0dfc
const typedef char *(*
GetIkFastVersionFn
classikfast_1_1IkFastFunctions.html
a05300a9e1a8bd541813297150da76fed
)()
const typedef char *(*
GetKinematicsHashFn
classikfast_1_1IkFastFunctions.html
a8f745b02718dc3945f6f076ead7e5fa9
)()
pincher_arm_arm::IKFastKinematicsPlugin
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
kinematics::KinematicsBase
bool
getPositionFK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ad2eaa303c00a443e252bf3781716d36f
(const std::vector< std::string > &link_names, const std::vector< double > &joint_angles, std::vector< geometry_msgs::Pose > &poses) const override
bool
getPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a437932b5a246348255d009b4b859c898
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
bool
getPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ab67d435628029c8b882a4edd75635bf2
(const std::vector< geometry_msgs::Pose > &ik_poses, const std::vector< double > &ik_seed_state, std::vector< std::vector< double >> &solutions, kinematics::KinematicsResult &result, const kinematics::KinematicsQueryOptions &options) const override
IKFastKinematicsPlugin
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ad05b0867375fe8c83da54a6140cbae01
()
bool
searchPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a4bac949496d480b5aeec7af76c5e0ec3
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
bool
searchPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
aa00d0f9ecd226ce8e1a64bc2532a4d13
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, const std::vector< double > &consistency_limits, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
bool
searchPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
af2a455b3bfd39fdceca3a1664a7eed50
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, const IKCallbackFn &solution_callback, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
bool
searchPositionIK
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a6de07ab548d775af491472edec9e0e7a
(const geometry_msgs::Pose &ik_pose, const std::vector< double > &ik_seed_state, double timeout, std::vector< double > &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options=kinematics::KinematicsQueryOptions()) const override
bool
setRedundantJoints
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a2b6d4e9cdc4eaf9246ad400c98dd52c4
(const std::vector< unsigned int > &redundant_joint_indices) override
void
setSearchDiscretization
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a738932e7e3bd9503cbe8fbd785f74b33
(const std::map< unsigned int, double > &discretization)
bool
computeRelativeTransform
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ab4fe26b043aa67aa7177886481d8d740
(const std::string &from, const std::string &to, Eigen::Isometry3d &transform, bool &differs_from_identity)
double
enforceLimits
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ae34d84ca5a5f465bac5e136581212edb
(double val, double min, double max) const
void
fillFreeParams
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a72af941b7af2aea7213ddd19780d81a3
(int count, int *array)
bool
getCount
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a74410c128ec2f344ac935539d9486121
(int &count, const int &max_count, const int &min_count) const
const std::vector< std::string > &
getJointNames
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
ad40ba056c77aa45ed7f7795e976bfed7
() const override
const std::vector< std::string > &
getLinkNames
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a928b8aed14c4722d8b99f0ec31a6a71e
() const override
void
getSolution
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a358eda8ab832f7e88951ee699da8b3c0
(const IkSolutionList< IkReal > &solutions, const std::vector< double > &ik_seed_state, int i, std::vector< double > &solution) const
void
getSolution
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a382a0a64d8f50b6b3d044647563ef385
(const IkSolutionList< IkReal > &solutions, int i, std::vector< double > &solution) const
bool
initialize
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
affda1bd21560660c6e5946954affcd7b
(const moveit::core::RobotModel &robot_model, const std::string &group_name, const std::string &base_frame, const std::vector< std::string > &tip_frames, double search_discretization) override
bool
sampleRedundantJoint
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
abdec56f6e9ec4555cc951ac924c225a4
(kinematics::DiscretizationMethod method, std::vector< double > &sampled_joint_vals) const
size_t
solve
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a28ea194e120c8359ca6f3f604f25e379
(KDL::Frame &pose_frame, const std::vector< double > &vfree, IkSolutionList< IkReal > &solutions) const
void
transformToChainFrame
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a16cf2bc9415b7c0a17f6eb913498522b
(const geometry_msgs::Pose &ik_pose, KDL::Frame &ik_pose_chain) const
bool
base_transform_required_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a22230aa6251d106aaf06d030c312b8dd
Eigen::Isometry3d
chain_base_to_group_base_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a4415febfb23b6f958207d1cee9d16854
std::vector< int >
free_params_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a43e268de721652a467fbe7337b4f2edc
Eigen::Isometry3d
group_tip_to_chain_tip_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a2653fed96ac85fe29f0887e28caa847f
const std::string
IKFAST_BASE_FRAME_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
aa197ece8133575f1d0725129d4cb5cc2
const std::string
IKFAST_TIP_FRAME_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a91609be4a66973abca940c507979a6ff
bool
initialized_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
af1995f09cc8eb916b769abb575ee9f89
std::vector< bool >
joint_has_limits_vector_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
adb5b91bbc5ca19c3a766362a1dc7fc0a
std::vector< double >
joint_max_vector_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a63604287e4d0908834c185e4b675b207
std::vector< double >
joint_min_vector_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a1e89c33a809bc6e64afa3cbe535ffacb
std::vector< std::string >
joint_names_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a98539fa0d8892bd8d7d9ed24439f800f
std::vector< std::string >
link_names_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a91dd30e930a658669d819c46fb352b9b
std::string
link_prefix_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
af837894835dd9b92400b4eeac50b20dd
const std::string
name_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a328a92166dd792f8446dfafedd380e29
const size_t
num_joints_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
aa50d703e0c7725b88cfdb8ce53f860e6
bool
tip_transform_required_
classpincher__arm__arm_1_1IKFastKinematicsPlugin.html
a50ec5bc62ea6084eb7d6b6714dc25937
ikfast::IkSingleDOFSolutionBase
classikfast_1_1IkSingleDOFSolutionBase.html
IkSingleDOFSolutionBase
classikfast_1_1IkSingleDOFSolutionBase.html
aa3c37c6e9a4903f1303893e966260789
()
T
fmul
classikfast_1_1IkSingleDOFSolutionBase.html
adb64a33a2ce7357684c9c89d75cacd0c
T
foffset
classikfast_1_1IkSingleDOFSolutionBase.html
a1d5900ae9cb2d55c396b995b976fdcef
signed char
freeind
classikfast_1_1IkSingleDOFSolutionBase.html
adca245b0afa4133dddbd10803053bc2a
unsigned char
indices
classikfast_1_1IkSingleDOFSolutionBase.html
a50d8439b7f735a474f6dfe42e91de455
[5]
unsigned char
jointtype
classikfast_1_1IkSingleDOFSolutionBase.html
a3c458c4a2b06b4a2ccffc265cf34c6fe
unsigned char
maxsolutions
classikfast_1_1IkSingleDOFSolutionBase.html
a45404bf30c7b90131b7ce2b8045c6f6a
ikfast::IkSolution
classikfast_1_1IkSolution.html
ikfast::IkSolutionBase
virtual int
GetDOF
classikfast_1_1IkSolution.html
a38374e5c362498812fdbb86bdd77ee42
() const
virtual const std::vector< int > &
GetFree
classikfast_1_1IkSolution.html
a6565d27370b7fe391efaa64a18e87afc
() const
virtual void
GetSolution
classikfast_1_1IkSolution.html
ab0258a9b42c720194e13953e631c9b8b
(std::vector< T > &solution, const std::vector< T > &freevalues) const
virtual void
GetSolution
classikfast_1_1IkSolution.html
ae8891fda83002a94c74a80ab9784679e
(T *solution, const T *freevalues) const
virtual void
GetSolutionIndices
classikfast_1_1IkSolution.html
a62c0808de0ffde44a96539dd58a616e4
(std::vector< unsigned int > &v) const
IkSolution
classikfast_1_1IkSolution.html
a6b76af506a24ba4b78b1c9d3dc110a72
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void
Validate
classikfast_1_1IkSolution.html
a138ee9ab2e290a1ae2ee4c7aa23dab41
() const
std::vector< IkSingleDOFSolutionBase< T > >
_vbasesol
classikfast_1_1IkSolution.html
a823a44ea0a199929967ce1646792a50c
std::vector< int >
_vfree
classikfast_1_1IkSolution.html
a3c552543a66e39e127bed5a5c085b1bb
ikfast::IkSolutionBase
classikfast_1_1IkSolutionBase.html
virtual int
GetDOF
classikfast_1_1IkSolutionBase.html
a94ac1496405343f4c7ad2a3c07b375cc
() const =0
virtual const std::vector< int > &
GetFree
classikfast_1_1IkSolutionBase.html
a2693ede66be937b7c4c1c949284282ca
() const =0
virtual void
GetSolution
classikfast_1_1IkSolutionBase.html
a4e8afdc564a90aeed598d276d4f1bd3f
(std::vector< T > &solution, const std::vector< T > &freevalues) const
virtual void
GetSolution
classikfast_1_1IkSolutionBase.html
a9405530feb49f12f56c3175e7150c66f
(T *solution, const T *freevalues) const =0
virtual
~IkSolutionBase
classikfast_1_1IkSolutionBase.html
ae40e464cdbc474388cc7d55560ec44f9
()
ikfast::IkSolutionList
classikfast_1_1IkSolutionList.html
ikfast::IkSolutionListBase
virtual size_t
AddSolution
classikfast_1_1IkSolutionList.html
ac0a503b13e68403e7b2d92afd4c28a7b
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)
virtual void
Clear
classikfast_1_1IkSolutionList.html
ae341a33d5aee644cac867e3edd2a9916
()
virtual size_t
GetNumSolutions
classikfast_1_1IkSolutionList.html
ac9679184adc4a704c4c6497eef3cb597
() const
virtual const IkSolutionBase< T > &
GetSolution
classikfast_1_1IkSolutionList.html
a0320618db6b5432cd609e1e2c8c73614
(size_t index) const
std::list< IkSolution< T > >
_listsolutions
classikfast_1_1IkSolutionList.html
a141004e6be454a5b9ab537d102c7f405
ikfast::IkSolutionListBase
classikfast_1_1IkSolutionListBase.html
virtual size_t
AddSolution
classikfast_1_1IkSolutionListBase.html
a9d862f550472c2fa15189946b12222bf
(const std::vector< IkSingleDOFSolutionBase< T > > &vinfos, const std::vector< int > &vfree)=0
virtual void
Clear
classikfast_1_1IkSolutionListBase.html
a9940fe21cfa0a67c1a21a672696c5cb5
()=0
virtual size_t
GetNumSolutions
classikfast_1_1IkSolutionListBase.html
a5f4a2191825f1d2aad3468daf94d575f
() const =0
virtual const IkSolutionBase< T > &
GetSolution
classikfast_1_1IkSolutionListBase.html
a540d8c85b5be635ea671ef7ddc0eb9c0
(size_t index) const =0
virtual
~IkSolutionListBase
classikfast_1_1IkSolutionListBase.html
a1200afc2fc92110d9f8191039f0f7d6c
()
IKSolver
classIKSolver.html
bool
ComputeIk
classIKSolver.html
ac0195e291bed491b4cb6a68db8199b55
(const IkReal *eetrans, const IkReal *eerot, const IkReal *pfree, IkSolutionListBase< IkReal > &solutions)
static void
polyroots2
classIKSolver.html
a16a33b8d7de25af06070fb7c55e80bb1
(IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)
static void
polyroots3
classIKSolver.html
a46a898ea503f9399df84df127f7f84eb
(IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)
static void
polyroots4
classIKSolver.html
a771ebe9dbd8593520e8aab200e3c141a
(IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)
unsigned char
_ij0
classIKSolver.html
ae0fdf96e14e42d408bc5e16580c81100
[2]
unsigned char
_ij1
classIKSolver.html
a66a0610cba0da00e09deda3c72e3909f
[2]
unsigned char
_ij100
classIKSolver.html
a532f95a61a95105a0d54bc0d480f8a1c
[2]
unsigned char
_ij2
classIKSolver.html
aff0b7815729d44c5decbef316763d45f
[2]
unsigned char
_ij3
classIKSolver.html
a4e65e7d6f429bdc4ad9146bda1b48712
[2]
unsigned char
_ij4
classIKSolver.html
a0b552c60bc1dd705f67a32cb3f03b738
[2]
unsigned char
_nj0
classIKSolver.html
ac2fb0a00657f58a0bc49485454ddd914
unsigned char
_nj1
classIKSolver.html
a38f5fb04f76ea095f6835eb767de1bbb
unsigned char
_nj100
classIKSolver.html
ae2e2e25e523459bc8c56bd08d020998c
unsigned char
_nj2
classIKSolver.html
aac13220157c526f065b9f655b4a5cb7f
unsigned char
_nj3
classIKSolver.html
a19d64b2e1f7c33b7492420d74ff280a0
unsigned char
_nj4
classIKSolver.html
af4a3d8d26ff3a7cbf3ebbe8c8258f12c
IkReal
cj0
classIKSolver.html
aa3c0bd74bcf87573ce608d8039408526
IkReal
cj1
classIKSolver.html
a2eff4800151517f5c649cb948bad8326
IkReal
cj100
classIKSolver.html
aff9b55d101572e59a2b2ff7255401883
IkReal
cj2
classIKSolver.html
afae239eeaad5f0c027cd4837faa666a0
IkReal
cj3
classIKSolver.html
ae9b832aafcb4e3630a581c04b15d909b
IkReal
cj4
classIKSolver.html
a43e7823ac1496d1210dda7b76a4e037a
IkReal
htj0
classIKSolver.html
af29aefe604a6957a573f5532a0ae0924
IkReal
htj1
classIKSolver.html
aa12be6bab85a8ca6c8c74c0cb5e92cf9
IkReal
htj2
classIKSolver.html
a33e07730a03291ee56912b371dc8268f
IkReal
htj3
classIKSolver.html
ab1194d4acb88c80eb7dd3c75a099dd97
IkReal
htj4
classIKSolver.html
a84bea2670b08b33b5a24bb1d5d56d7ca
IkReal
j0
classIKSolver.html
a57f10792b61e342bc910311172b36488
IkReal
j0mul
classIKSolver.html
a7e5b52eca8716ef85d3e857c5c6a0664
IkReal
j1
classIKSolver.html
abce606fc49166277524525eadfe47f1a
IkReal
j100
classIKSolver.html
a793dbaa888ed31ea892028f3da3b6251
IkReal
j1mul
classIKSolver.html
a8e666ee88199689ecabf3d3457d86bc2
IkReal
j2
classIKSolver.html
a2059d93255027d204610a6818e5c45a6
IkReal
j2mul
classIKSolver.html
a293ea10271033383fd77c557befd11b4
IkReal
j3
classIKSolver.html
adf5d1568dc258d51edc6430bf90ef09d
IkReal
j3mul
classIKSolver.html
a827e1cab13ea3962046446651efec165
IkReal
j4
classIKSolver.html
a7f090894b4553ceda8b2fbe91a9d469c
IkReal
j4mul
classIKSolver.html
acde98d7f3aa628addf5ef056060431b5
IkReal
new_px
classIKSolver.html
a81fbafdee3f4d7df5c82a4db80cb74d7
IkReal
new_py
classIKSolver.html
a92d9c8748e96823e08979ba79f215031
IkReal
new_pz
classIKSolver.html
a298e74662237a8df2869e8ad8ec2d00e
IkReal
new_r00
classIKSolver.html
a53a7eddb835224104838f523df53d07b
IkReal
new_r01
classIKSolver.html
a7bd00cd06f08e563763e834ffd0f66ea
IkReal
new_r02
classIKSolver.html
a39f2dd1bfb92c6c5509f4da676748660
IkReal
npx
classIKSolver.html
a42126eca3b2110aff8451060bce76c9f
IkReal
npy
classIKSolver.html
ab79bcd5d003ba38f5c1926e35446d123
IkReal
npz
classIKSolver.html
ac5ba601bbc95efd9881f70ebf871c5c1
IkReal
pp
classIKSolver.html
a2940190f4bac7e2fcd3d95503beb1a29
IkReal
px
classIKSolver.html
a9d5c872c9a6b0b9fdc9ba4192763585f
IkReal
py
classIKSolver.html
a997924d324efb5f12e6642cb28ee1470
IkReal
pz
classIKSolver.html
a34d107aa2bd31deda5da19b9c191f183
IkReal
r00
classIKSolver.html
abe2d67909dcd06df36369735b9eb44f6
IkReal
r01
classIKSolver.html
ac19d13d4cf04f8fa93f295b67115ba18
IkReal
r02
classIKSolver.html
a6b885721baf3d20900bffecc1830948c
IkReal
rxp0_0
classIKSolver.html
a6640ab19abf5f8d59d1f268be598b9d3
IkReal
rxp0_1
classIKSolver.html
ae74bd1bcaca3440377e9afa78f39dae4
IkReal
rxp0_2
classIKSolver.html
aac158b1a0802a655cea8a339b34abccc
IkReal
sj0
classIKSolver.html
a791e2437d1fc1b568b213b0388f97d0a
IkReal
sj1
classIKSolver.html
a0d7c3270795003a7947ae93ba90b8335
IkReal
sj100
classIKSolver.html
a481a9e5ad8adad9c244a5a1a8bca8124
IkReal
sj2
classIKSolver.html
adbd68395fd872d5e9a13f3a787c1b0d9
IkReal
sj3
classIKSolver.html
a6b8d826d394d3d04633e5542d023ee5b
IkReal
sj4
classIKSolver.html
a5f90cdbcbc7633850cfaeb547c11437c
pincher_arm_arm::LimitObeyingSol
structpincher__arm__arm_1_1LimitObeyingSol.html
bool
operator<
structpincher__arm__arm_1_1LimitObeyingSol.html
add53d68b67f149b93abdde7ecccaf2e8
(const LimitObeyingSol &a) const
double
dist_from_seed
structpincher__arm__arm_1_1LimitObeyingSol.html
a605bb82fcd911708dd04e98da3c74d2e
std::vector< double >
value
structpincher__arm__arm_1_1LimitObeyingSol.html
ad5f20f30f84c094a5b54708d57927161
ikfast
namespaceikfast.html
ikfast::IkFastFunctions
ikfast::IkSingleDOFSolutionBase
ikfast::IkSolution
ikfast::IkSolutionBase
ikfast::IkSolutionList
ikfast::IkSolutionListBase
pincher_arm_arm
namespacepincher__arm__arm.html
pincher_arm_arm::IKFastKinematicsPlugin
pincher_arm_arm::LimitObeyingSol
IkParameterizationType
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058
IKP_None
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058aa83db5b360690ff6fe37c0dd1073377a
IKP_Transform6D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a550adfc176f430fd7c3a8f364e12629c
IKP_Rotation3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a52e5287f7844921f0e6cce5fb08ba122
IKP_Translation3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058afa437f0994af8c3ae1c0364c6a066d9f
IKP_Direction3D
namespacepincher__arm__arm.html
a7e2c77319c48ad03f49afef6ec5a6058a64aaf6a2da2a418dfc6edd8f7c944765
IKP_Ray4D
namespacepincher__arm__arm.html
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