#include <tesseract_common/macros.h>
#include <tesseract_kinematics/ikfast/external/ikfast.h>
#include <cmath>
#include <vector>
#include <limits>
#include <complex>
#include <stdexcept>
#include <iostream>
#include <cstddef>
#include <memory>

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Classes
class	IKSolver

Macros
#define	IKFAST_NO_MAIN

#define	IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)(x)]

#define	IKFAST_STRINGIZE2(s) #s

#define	IKFAST_STRINGIZE(s) IKFAST_STRINGIZE2(s)

#define	__PRETTY_FUNCTION__ __func__

#define	IKFAST_ASSERT(b)

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

#define	IK2PI ((IkReal)6.28318530717959)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI_2 ((IkReal)1.57079632679490)

#define	IKFAST_SINCOS_THRESH ((IkReal)0.000001)

#define	IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6)

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

Functions
	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==61)

void	dgetrf_ (const int m, const int n, double a, const int lda, int ipiv, int info)

void	zgetrf_ (const int m, const int n, std::complex< double > a, const int lda, int ipiv, int info)

void	dgetri_ (const int n, const double a, const int lda, int ipiv, double work, const int lwork, int *info)

void	dgesv_ (const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int info)

void	dgetrs_ (const char trans, const int n, const int nrhs, double a, const int lda, int ipiv, double b, const int ldb, int *info)

void	dgeev_ (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)

float	IKabs (float f)

double	IKabs (double f)

float	IKsqr (float f)

double	IKsqr (double f)

float	IKlog (float f)

double	IKlog (double f)

float	IKasin (float f)

double	IKasin (double f)

float	IKfmod (float x, float y)

double	IKfmod (double x, double y)

float	IKacos (float f)

double	IKacos (double f)

float	IKsin (float f)

double	IKsin (double f)

float	IKcos (float f)

double	IKcos (double f)

float	IKtan (float f)

double	IKtan (double f)

float	IKsqrt (float f)

double	IKsqrt (double f)

float	IKatan2 (float fy, float fx)

double	IKatan2 (double fy, double fx)

float	IKsign (float f)

double	IKsign (double f)

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

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int *	GetFreeParameters ()

IKFAST_API int	GetNumJoints ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetIkType ()

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

IKFAST_API const char *	GetKinematicsHash ()

IKFAST_API const char *	GetIkFastVersion ()

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

#define __PRETTY_FUNCTION__ __func__

◆ IK2PI

#define IK2PI ((IkReal)6.28318530717959)

◆ IKFAST_ALIGNED16

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

◆ IKFAST_ASSERT

#define IKFAST_ASSERT ( b )

Value:

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

◆ IKFAST_ATAN2_MAGTHRESH

#define IKFAST_ATAN2_MAGTHRESH ((IkReal)2e-6)

◆ IKFAST_COMPILE_ASSERT

#define IKFAST_COMPILE_ASSERT ( x ) extern int __dummy[(int)(x)]

◆ IKFAST_NO_MAIN

#define IKFAST_NO_MAIN

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author: Rosen Diankov

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

ikfast version 61 generated on 2015-05-22 14:09:58.982511 To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

◆ IKFAST_SINCOS_THRESH

#define IKFAST_SINCOS_THRESH ((IkReal)0.000001)

◆ IKFAST_SOLUTION_THRESH

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

◆ IKFAST_STRINGIZE

#define IKFAST_STRINGIZE ( s ) IKFAST_STRINGIZE2(s)

◆ IKFAST_STRINGIZE2

#define IKFAST_STRINGIZE2 ( s ) #s

◆ IKPI

#define IKPI ((IkReal)3.14159265358979)

◆ IKPI_2

#define IKPI_2 ((IkReal)1.57079632679490)

Function Documentation

◆ ComputeFk()

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

solves the forward kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

◆ ComputeIk()

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

solves the inverse kinematics equations.

Parameters

pfree is an array specifying the free joints of the chain.

◆ dgeev_()

void dgeev_	(	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
	)

◆ dgesv_()

void dgesv_	(	const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

◆ dgetrf_()

void dgetrf_	(	const int *	m,
		const int *	n,
		double *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

◆ dgetri_()

void dgetri_	(	const int *	n,
		const double *	a,
		const int *	lda,
		int *	ipiv,
		double *	work,
		const int *	lwork,
		int *	info
	)

◆ dgetrs_()

void dgetrs_	(	const char *	trans,
		const int *	n,
		const int *	nrhs,
		double *	a,
		const int *	lda,
		int *	ipiv,
		double *	b,
		const int *	ldb,
		int *	info
	)

◆ GetFreeParameters()

IKFAST_API int * GetFreeParameters ( )

◆ GetIkFastVersion()

IKFAST_API const char * GetIkFastVersion ( )

◆ GetIkRealSize()

IKFAST_API int GetIkRealSize ( )

◆ GetIkType()

IKFAST_API int GetIkType ( )

◆ GetKinematicsHash()

IKFAST_API const char * GetKinematicsHash ( )

◆ GetNumFreeParameters()

IKFAST_API int GetNumFreeParameters ( )

◆ GetNumJoints()

IKFAST_API int GetNumJoints ( )

◆ IKabs() [1/2]

double IKabs ( double f )

inline

◆ IKabs() [2/2]

float IKabs ( float f )

inline

◆ IKacos() [1/2]

double IKacos ( double f )

inline

◆ IKacos() [2/2]

float IKacos ( float f )

inline

◆ IKasin() [1/2]

double IKasin ( double f )

inline

◆ IKasin() [2/2]

float IKasin ( float f )

inline

◆ IKatan2() [1/2]

double IKatan2	(	double	fy,
		double	fx
	)

inline

◆ IKatan2() [2/2]

float IKatan2	(	float	fy,
		float	fx
	)

inline

◆ IKcos() [1/2]

double IKcos ( double f )

inline

◆ IKcos() [2/2]

float IKcos ( float f )

inline

◆ IKFAST_COMPILE_ASSERT()

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =61 )

◆ IKfmod() [1/2]

double IKfmod	(	double	x,
		double	y
	)

inline

◆ IKfmod() [2/2]

float IKfmod	(	float	x,
		float	y
	)

inline

◆ IKlog() [1/2]

double IKlog ( double f )

inline

◆ IKlog() [2/2]

float IKlog ( float f )

inline

◆ IKsign() [1/2]

double IKsign ( double f )

inline

◆ IKsign() [2/2]

float IKsign ( float f )

inline

◆ IKsin() [1/2]

double IKsin ( double f )

inline

◆ IKsin() [2/2]

float IKsin ( float f )

inline

◆ IKsqr() [1/2]

double IKsqr ( double f )

inline

◆ IKsqr() [2/2]

float IKsqr ( float f )

inline

◆ IKsqrt() [1/2]

double IKsqrt ( double f )

inline

◆ IKsqrt() [2/2]

float IKsqrt ( float f )

inline

◆ IKtan() [1/2]

double IKtan ( double f )

inline

◆ IKtan() [2/2]

float IKtan ( float f )

inline

◆ zgetrf_()

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< double > *	a,
		const int *	lda,
		int *	ipiv,
		int *	info
	)

Classes

Macros

Functions

Macro Definition Documentation

◆ __PRETTY_FUNCTION__

◆ IK2PI

◆ IKFAST_ALIGNED16

◆ IKFAST_ASSERT

◆ IKFAST_ATAN2_MAGTHRESH

◆ IKFAST_COMPILE_ASSERT

◆ IKFAST_NO_MAIN

◆ IKFAST_SINCOS_THRESH

◆ IKFAST_SOLUTION_THRESH

◆ IKFAST_STRINGIZE

◆ IKFAST_STRINGIZE2

◆ IKPI

◆ IKPI_2

Function Documentation

◆ ComputeFk()

◆ ComputeIk()

◆ dgeev_()

◆ dgesv_()

◆ dgetrf_()

◆ dgetri_()

◆ dgetrs_()

◆ GetFreeParameters()

◆ GetIkFastVersion()

◆ GetIkRealSize()

◆ GetIkType()

◆ GetKinematicsHash()

◆ GetNumFreeParameters()

◆ GetNumJoints()

◆ IKabs() [1/2]

◆ IKabs() [2/2]

◆ IKacos() [1/2]

◆ IKacos() [2/2]

◆ IKasin() [1/2]

◆ IKasin() [2/2]

◆ IKatan2() [1/2]

◆ IKatan2() [2/2]

◆ IKcos() [1/2]

◆ IKcos() [2/2]

◆ IKFAST_COMPILE_ASSERT()

◆ IKfmod() [1/2]

◆ IKfmod() [2/2]

◆ IKlog() [1/2]

◆ IKlog() [2/2]

◆ IKsign() [1/2]

◆ IKsign() [2/2]

◆ IKsin() [1/2]

◆ IKsin() [2/2]

◆ IKsqr() [1/2]

◆ IKsqr() [2/2]

◆ IKsqrt() [1/2]

◆ IKsqrt() [2/2]

◆ IKtan() [1/2]

◆ IKtan() [2/2]

◆ zgetrf_()