#include <vector>
#include <list>
#include <stdexcept>
#include <cmath>

Classes
class	ikfast::IkSingleDOFSolutionBase< T >
	holds the solution for a single dof More...

class	ikfast::IkSolutionBase< T >
	The discrete solutions are returned in this structure. More...

class	ikfast::IkSolutionListBase< T >
	manages all the solutions More...

class	ikfast::IkFastFunctions< T >
	holds function pointers for all the exported functions of ikfast More...

class	ikfast::IkSolution< T >
	Default implementation of IkSolutionBase. More...

class	ikfast::IkSolutionList< T >
	Default implementation of IkSolutionListBase. More...

Macros
#define	IKFAST_VERSION 0x10000048
	Header file for all ikfast c++ files/shared objects. More...

Macro Definition Documentation

◆ IKFAST_VERSION

#define IKFAST_VERSION 0x10000048

Header file for all ikfast c++ files/shared objects.

The ikfast inverse kinematics compiler is part of OpenRAVE.

The file is divided into two sections:

Common - the abstract classes section that all ikfast share regardless of their settings
Library Specific - the library-specific definitions, which depends on the precision/settings that the library was compiled with

The defines are as follows, they are also used for the ikfast C++ class:

IKFAST_HEADER_COMMON - common classes
IKFAST_HAS_LIBRARY - if defined, will include library-specific functions. by default this is off
IKFAST_CLIBRARY - Define this linking statically or dynamically to get correct visibility.
IKFAST_NO_MAIN - Remove the main function, usually used with IKFAST_CLIBRARY
IKFAST_ASSERT - Define in order to get a custom assert called when NaNs, divides by zero, and other invalid conditions are detected.
IKFAST_REAL - Use to force a custom real number type for IkReal.
IKFAST_NAMESPACE - Enclose all functions and classes in this namespace, the main function is excluded.should be the same as ikfast.__version__ if 0x10000000 bit is set, then the iksolver assumes 6D transforms are done without the manipulator offset taken into account (allows to reuse IK when manipulator offset changes)