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

void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)

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

void	rotationfunction0 (IkSolutionListBase< IkReal > &solutions)

Static Public Member Functions
static void	polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)

static void	polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)

static void	polyroots5 (IkReal rawcoeffs[5+1], IkReal rawroots[5], int &numroots)

static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)

static void	polyroots7 (IkReal rawcoeffs[7+1], IkReal rawroots[7], int &numroots)

static void	polyroots6 (IkReal rawcoeffs[6+1], IkReal rawroots[6], int &numroots)

static void	polyroots8 (IkReal rawcoeffs[8+1], IkReal rawroots[8], int &numroots)

static void	polyroots3 (IkReal rawcoeffs[3+1], IkReal rawroots[3], int &numroots)

static void	polyroots2 (IkReal rawcoeffs[2+1], IkReal rawroots[2], int &numroots)

static void	polyroots4 (IkReal rawcoeffs[4+1], IkReal rawroots[4], int &numroots)

Public Attributes
IkReal	j0

IkReal	cj0

IkReal	sj0

IkReal	htj0

IkReal	j0mul

IkReal	j1

IkReal	cj1

IkReal	sj1

IkReal	htj1

IkReal	j1mul

IkReal	j2

IkReal	cj2

IkReal	sj2

IkReal	htj2

IkReal	j2mul

IkReal	j3

IkReal	cj3

IkReal	sj3

IkReal	htj3

IkReal	j3mul

IkReal	j4

IkReal	cj4

IkReal	sj4

IkReal	htj4

IkReal	j4mul

IkReal	j5

IkReal	cj5

IkReal	sj5

IkReal	htj5

IkReal	j5mul

IkReal	new_r00

IkReal	r00

IkReal	rxp0_0

IkReal	new_r01

IkReal	r01

IkReal	rxp0_1

IkReal	new_r02

IkReal	r02

IkReal	rxp0_2

IkReal	new_r10

IkReal	r10

IkReal	rxp1_0

IkReal	new_r11

IkReal	r11

IkReal	rxp1_1

IkReal	new_r12

IkReal	r12

IkReal	rxp1_2

IkReal	new_r20

IkReal	r20

IkReal	rxp2_0

IkReal	new_r21

IkReal	r21

IkReal	rxp2_1

IkReal	new_r22

IkReal	r22

IkReal	rxp2_2

IkReal	new_px

IkReal	px

IkReal	npx

IkReal	new_py

IkReal	py

IkReal	npy

IkReal	new_pz

IkReal	pz

IkReal	npz

IkReal	pp

unsigned char	_ij0 [2]

unsigned char	_nj0

unsigned char	_ij1 [2]

unsigned char	_nj1

unsigned char	_ij2 [2]

unsigned char	_nj2

unsigned char	_ij3 [2]

unsigned char	_nj3

unsigned char	_ij4 [2]

unsigned char	_nj4

unsigned char	_ij5 [2]

unsigned char	_nj5

IkReal	j100

IkReal	cj100

IkReal	sj100

unsigned char	_ij100 [2]

unsigned char	_nj100

Member Function Documentation

◆ ComputeIk() [1/2]

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

inline

◆ rotationfunction0() [1/2]

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > & solutions )

inline

◆ polyroots3() [1/2]

static void IKSolver::polyroots3	(	IkReal	rawcoeffs[3+1],
		IkReal	rawroots[3],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots2() [1/2]

static void IKSolver::polyroots2	(	IkReal	rawcoeffs[2+1],
		IkReal	rawroots[2],
		int &	numroots
	)

inlinestatic

References IKsqrt().

◆ polyroots5()

static void IKSolver::polyroots5	(	IkReal	rawcoeffs[5+1],
		IkReal	rawroots[5],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots4() [1/2]

static void IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots7()

static void IKSolver::polyroots7	(	IkReal	rawcoeffs[7+1],
		IkReal	rawroots[7],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots6()

static void IKSolver::polyroots6	(	IkReal	rawcoeffs[6+1],
		IkReal	rawroots[6],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots8()

static void IKSolver::polyroots8	(	IkReal	rawcoeffs[8+1],
		IkReal	rawroots[8],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ ComputeIk() [2/2]

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

inline

References ikfast::IkSolutionListBase< T >::Clear(), ikfast::IkSolutionListBase< T >::GetNumSolutions(), IK2PI, IKabs(), IKasin(), IKatan2WithCheck(), IKcos(), IKFAST_ATAN2_MAGTHRESH, IKFAST_EVALCOND_THRESH, IKFAST_SINCOS_THRESH, IKFAST_SOLUTION_THRESH, IKPI, IKPowWithIntegerCheck(), IKsign(), IKsin(), CheckValue< T >::valid, and CheckValue< T >::value.

◆ rotationfunction0() [2/2]

void IKSolver::rotationfunction0 ( IkSolutionListBase< IkReal > & solutions )

inline

◆ polyroots3() [2/2]

static void IKSolver::polyroots3	(	IkReal	rawcoeffs[3+1],
		IkReal	rawroots[3],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

◆ polyroots2() [2/2]

static void IKSolver::polyroots2	(	IkReal	rawcoeffs[2+1],
		IkReal	rawroots[2],
		int &	numroots
	)

inlinestatic

References IKsqrt().

◆ polyroots4() [2/2]

static void IKSolver::polyroots4	(	IkReal	rawcoeffs[4+1],
		IkReal	rawroots[4],
		int &	numroots
	)

inlinestatic

References i, IKabs(), IKFAST_ASSERT, n, and x.

Member Data Documentation

◆ j0

IkReal IKSolver::j0

◆ cj0

IkReal IKSolver::cj0

◆ sj0

IkReal IKSolver::sj0

◆ htj0

IkReal IKSolver::htj0

◆ j0mul

IkReal IKSolver::j0mul

◆ j1

IkReal IKSolver::j1

◆ cj1

IkReal IKSolver::cj1

◆ sj1

IkReal IKSolver::sj1

◆ htj1

IkReal IKSolver::htj1

◆ j1mul

IkReal IKSolver::j1mul

◆ j2

IkReal IKSolver::j2

◆ cj2

IkReal IKSolver::cj2

◆ sj2

IkReal IKSolver::sj2

◆ htj2

IkReal IKSolver::htj2

◆ j2mul

IkReal IKSolver::j2mul

◆ j3

IkReal IKSolver::j3

◆ cj3

IkReal IKSolver::cj3

◆ sj3

IkReal IKSolver::sj3

◆ htj3

IkReal IKSolver::htj3

◆ j3mul

IkReal IKSolver::j3mul

◆ j4

IkReal IKSolver::j4

◆ cj4

IkReal IKSolver::cj4

◆ sj4

IkReal IKSolver::sj4

◆ htj4

IkReal IKSolver::htj4

◆ j4mul

IkReal IKSolver::j4mul

◆ j5

IkReal IKSolver::j5

◆ cj5

IkReal IKSolver::cj5

◆ sj5

IkReal IKSolver::sj5

◆ htj5

IkReal IKSolver::htj5

◆ j5mul

IkReal IKSolver::j5mul

◆ new_r00

IkReal IKSolver::new_r00

◆ r00

IkReal IKSolver::r00

◆ rxp0_0

IkReal IKSolver::rxp0_0

◆ new_r01

IkReal IKSolver::new_r01

◆ r01

IkReal IKSolver::r01

◆ rxp0_1

IkReal IKSolver::rxp0_1

◆ new_r02

IkReal IKSolver::new_r02

◆ r02

IkReal IKSolver::r02

◆ rxp0_2

IkReal IKSolver::rxp0_2

◆ new_r10

IkReal IKSolver::new_r10

◆ r10

IkReal IKSolver::r10

◆ rxp1_0

IkReal IKSolver::rxp1_0

◆ new_r11

IkReal IKSolver::new_r11

◆ r11

IkReal IKSolver::r11

◆ rxp1_1

IkReal IKSolver::rxp1_1

◆ new_r12

IkReal IKSolver::new_r12

◆ r12

IkReal IKSolver::r12

◆ rxp1_2

IkReal IKSolver::rxp1_2

◆ new_r20

IkReal IKSolver::new_r20

◆ r20

IkReal IKSolver::r20

◆ rxp2_0

IkReal IKSolver::rxp2_0

◆ new_r21

IkReal IKSolver::new_r21

◆ r21

IkReal IKSolver::r21

◆ rxp2_1

IkReal IKSolver::rxp2_1

◆ new_r22

IkReal IKSolver::new_r22

◆ r22

IkReal IKSolver::r22

◆ rxp2_2

IkReal IKSolver::rxp2_2

◆ new_px

IkReal IKSolver::new_px

◆ px

IkReal IKSolver::px

◆ npx

IkReal IKSolver::npx

◆ new_py

IkReal IKSolver::new_py

◆ py

IkReal IKSolver::py

◆ npy

IkReal IKSolver::npy

◆ new_pz

IkReal IKSolver::new_pz

◆ pz

IkReal IKSolver::pz

◆ npz

IkReal IKSolver::npz

◆ pp

IkReal IKSolver::pp

◆ _ij0

unsigned char IKSolver::_ij0

◆ _nj0

unsigned char IKSolver::_nj0

◆ _ij1

unsigned char IKSolver::_ij1

◆ _nj1

unsigned char IKSolver::_nj1

◆ _ij2

unsigned char IKSolver::_ij2

◆ _nj2

unsigned char IKSolver::_nj2

◆ _ij3

unsigned char IKSolver::_ij3

◆ _nj3

unsigned char IKSolver::_nj3

◆ _ij4

unsigned char IKSolver::_ij4

◆ _nj4

unsigned char IKSolver::_nj4

◆ _ij5

unsigned char IKSolver::_ij5

◆ _nj5

unsigned char IKSolver::_nj5

◆ j100

IkReal IKSolver::j100

◆ cj100

IkReal IKSolver::cj100

◆ sj100

IkReal IKSolver::sj100

◆ _ij100

unsigned char IKSolver::_ij100

◆ _nj100

unsigned char IKSolver::_nj100

The documentation for this class was generated from the following file:

/home/gim2rng/ct_devel_ws/src/control-toolbox/ct_models/src/HyA/transform6d.cpp

Public Member Functions

Static Public Member Functions

Public Attributes

Member Function Documentation

◆ ComputeIk() [1/2]

◆ rotationfunction0() [1/2]

◆ polyroots3() [1/2]

◆ polyroots2() [1/2]

◆ polyroots5()

◆ polyroots4() [1/2]

◆ polyroots7()

◆ polyroots6()

◆ polyroots8()

◆ ComputeIk() [2/2]

◆ rotationfunction0() [2/2]

◆ polyroots3() [2/2]

◆ polyroots2() [2/2]

◆ polyroots4() [2/2]

Member Data Documentation

◆ 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