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

Classes
struct	CheckValue< T >

class	IKSolver

Macros
#define	IKFAST_HAS_LIBRARY

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

#define	__PRETTY_FUNCTION__ __func__

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

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

#define	IK2PI ((IkReal)6.28318530717959)

#define	IKPI ((IkReal)3.14159265358979)

#define	IKPI_2 ((IkReal)1.57079632679490)

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

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

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

#define	IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Functions
	IKFAST_COMPILE_ASSERT (IKFAST_VERSION==0x1000004a)

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	IKatan2Simple (float fy, float fx)

float	IKatan2 (float fy, float fx)

double	IKatan2Simple (double fy, double fx)

double	IKatan2 (double fy, double fx)

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

float	IKsign (float f)

double	IKsign (double f)

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

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

IKFAST_API int	GetNumFreeParameters ()

IKFAST_API int *	GetFreeParameters ()

IKFAST_API int	GetNumJoints ()

IKFAST_API int	GetIkRealSize ()

IKFAST_API int	GetIkType ()

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

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

IKFAST_API const char *	GetKinematicsHash ()

IKFAST_API const char *	GetIkFastVersion ()

int	main (int argc, char **argv)

Macro Definition Documentation

◆ IKFAST_HAS_LIBRARY

#define IKFAST_HAS_LIBRARY

autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE

Author: Rosen Diankov

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

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

ikfast version 0x1000004a generated on 2017-12-12 14:08:54.348797 Generated using solver transform6d To compile with gcc: gcc -lstdc++ ik.cpp To compile without any main function as a shared object (might need -llapack): gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp

◆ IKFAST_COMPILE_ASSERT

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

◆ __PRETTY_FUNCTION__

#define __PRETTY_FUNCTION__ __func__

◆ IKFAST_ASSERT

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

Referenced by IKacos(), IKasin(), IKatan2(), IKSolver::polyroots3(), and IKSolver::polyroots4().

◆ IKFAST_ALIGNED16

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

◆ IK2PI

#define IK2PI ((IkReal)6.28318530717959)

Referenced by IKSolver::ComputeIk(), and IKSolver::rotationfunction0().

◆ IKPI

#define IKPI ((IkReal)3.14159265358979)

Referenced by IKSolver::ComputeIk(), IKacos(), and IKSolver::rotationfunction0().

◆ IKPI_2

#define IKPI_2 ((IkReal)1.57079632679490)

Referenced by IKasin(), and IKatan2().

◆ IKFAST_SINCOS_THRESH

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

Referenced by IKSolver::ComputeIk(), IKacos(), IKasin(), and IKSolver::rotationfunction0().

◆ IKFAST_ATAN2_MAGTHRESH

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

Referenced by IKSolver::ComputeIk(), IKatan2WithCheck(), and IKSolver::rotationfunction0().

◆ IKFAST_SOLUTION_THRESH

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

Referenced by IKSolver::ComputeIk(), and IKSolver::rotationfunction0().

◆ IKFAST_EVALCOND_THRESH

#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001)

Referenced by IKSolver::ComputeIk(), and IKSolver::rotationfunction0().

Function Documentation

◆ IKFAST_COMPILE_ASSERT()

IKFAST_COMPILE_ASSERT ( IKFAST_VERSION = =0x1000004a )

◆ dgetrf_()

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

◆ zgetrf_()

void zgetrf_	(	const int *	m,
		const int *	n,
		std::complex< 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
	)

◆ dgesv_()

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

◆ 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
	)

◆ IKabs() [1/2]

float IKabs ( float f )

inline

◆ IKabs() [2/2]

double IKabs ( double f )

inline

◆ IKsqr() [1/2]

float IKsqr ( float f )

inline

◆ IKsqr() [2/2]

double IKsqr ( double f )

inline

◆ IKlog() [1/2]

float IKlog ( float f )

inline

◆ IKlog() [2/2]

double IKlog ( double f )

inline

◆ IKasin() [1/2]

float IKasin ( float f )

inline

References IKFAST_ASSERT, IKFAST_SINCOS_THRESH, and IKPI_2.

◆ IKasin() [2/2]

double IKasin ( double f )

inline

References IKFAST_ASSERT, IKFAST_SINCOS_THRESH, and IKPI_2.

◆ IKfmod() [1/2]

float IKfmod	(	float	x,
		float	y
	)

inline

◆ IKfmod() [2/2]

double IKfmod	(	double	x,
		double	y
	)

inline

◆ IKacos() [1/2]

float IKacos ( float f )

inline

References IKFAST_ASSERT, IKFAST_SINCOS_THRESH, and IKPI.

◆ IKacos() [2/2]

double IKacos ( double f )

inline

References IKFAST_ASSERT, IKFAST_SINCOS_THRESH, and IKPI.

◆ IKsin() [1/2]

float IKsin ( float f )

inline

◆ IKsin() [2/2]

double IKsin ( double f )

inline

◆ IKcos() [1/2]

float IKcos ( float f )

inline

◆ IKcos() [2/2]

double IKcos ( double f )

inline

◆ IKtan() [1/2]

float IKtan ( float f )

inline

◆ IKtan() [2/2]

double IKtan ( double f )

inline

◆ IKsqrt() [1/2]

float IKsqrt ( float f )

inline

◆ IKsqrt() [2/2]

double IKsqrt ( double f )

inline

◆ IKatan2Simple() [1/2]

float IKatan2Simple	(	float	fy,
		float	fx
	)

inline

◆ IKatan2() [1/2]

float IKatan2	(	float	fy,
		float	fx
	)

inline

References IKFAST_ASSERT, and IKPI_2.

◆ IKatan2Simple() [2/2]

double IKatan2Simple	(	double	fy,
		double	fx
	)

inline

◆ IKatan2() [2/2]

double IKatan2	(	double	fy,
		double	fx
	)

inline

References IKFAST_ASSERT, and IKPI_2.

◆ IKatan2WithCheck()

template<typename T >

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

inline

References IKabs(), IKatan2Simple(), IKFAST_ATAN2_MAGTHRESH, CheckValue< T >::valid, and CheckValue< T >::value.

◆ IKsign() [1/2]

float IKsign ( float f )

inline

◆ IKsign() [2/2]

double IKsign ( double f )

inline

◆ IKPowWithIntegerCheck()

template<typename T >

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

inline

References CheckValue< T >::valid, and CheckValue< T >::value.

◆ 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.

References IKcos(), IKsin(), and x0.

◆ GetNumFreeParameters()

IKFAST_API int GetNumFreeParameters ( )

◆ GetFreeParameters()

IKFAST_API int* GetFreeParameters ( )

◆ GetNumJoints()

IKFAST_API int GetNumJoints ( )

◆ GetIkRealSize()

IKFAST_API int GetIkRealSize ( )

◆ GetIkType()

IKFAST_API int GetIkType ( )

◆ 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.

References IKSolver::ComputeIk().

◆ ComputeIk2()

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

References IKSolver::ComputeIk().

◆ GetKinematicsHash()

IKFAST_API const char* GetKinematicsHash ( )

◆ GetIkFastVersion()

IKFAST_API const char* GetIkFastVersion ( )

References IKFAST_NAMESPACE.

◆ main()

int main	(	int	argc,
		char **	argv
	)

References ComputeIk(), ikfast::IkSolutionBase< class >::GetFree(), GetNumFreeParameters(), GetNumJoints(), ikfast::IkSolutionList< class >::GetNumSolutions(), ikfast::IkSolutionBase< class >::GetSolution(), ikfast::IkSolutionList< class >::GetSolution(), and i.

Classes

Macros

Functions

Macro Definition Documentation

◆ IKFAST_HAS_LIBRARY

◆ IKFAST_COMPILE_ASSERT

◆ __PRETTY_FUNCTION__

◆ IKFAST_ASSERT

◆ IKFAST_ALIGNED16

◆ IK2PI

◆ IKPI

◆ IKPI_2

◆ IKFAST_SINCOS_THRESH

◆ IKFAST_ATAN2_MAGTHRESH

◆ IKFAST_SOLUTION_THRESH

◆ IKFAST_EVALCOND_THRESH

Function Documentation

◆ IKFAST_COMPILE_ASSERT()

◆ dgetrf_()

◆ zgetrf_()

◆ dgetri_()

◆ dgesv_()

◆ dgetrs_()

◆ dgeev_()

◆ IKabs() [1/2]

◆ IKabs() [2/2]

◆ IKsqr() [1/2]

◆ IKsqr() [2/2]

◆ IKlog() [1/2]

◆ IKlog() [2/2]

◆ IKasin() [1/2]

◆ IKasin() [2/2]

◆ IKfmod() [1/2]

◆ IKfmod() [2/2]

◆ IKacos() [1/2]

◆ IKacos() [2/2]

◆ IKsin() [1/2]

◆ IKsin() [2/2]

◆ IKcos() [1/2]

◆ IKcos() [2/2]

◆ IKtan() [1/2]

◆ IKtan() [2/2]

◆ IKsqrt() [1/2]

◆ IKsqrt() [2/2]

◆ IKatan2Simple() [1/2]

◆ IKatan2() [1/2]

◆ IKatan2Simple() [2/2]

◆ IKatan2() [2/2]

◆ IKatan2WithCheck()

◆ IKsign() [1/2]

◆ IKsign() [2/2]

◆ IKPowWithIntegerCheck()

◆ ComputeFk()

◆ GetNumFreeParameters()

◆ GetFreeParameters()

◆ GetNumJoints()

◆ GetIkRealSize()

◆ GetIkType()

◆ ComputeIk()

◆ ComputeIk2()

◆ GetKinematicsHash()

◆ GetIkFastVersion()

◆ main()