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invkine.cpp File Reference


Detailed Description

Inverse kinematics solutions.

Definition in file invkine.cpp.

#include "robot.h"
#include <sstream>

Include dependency graph for invkine.cpp:

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Namespaces

namespace  ROBOOP

Defines

#define NITMAX   1000
 def maximum number of iterations in inv_kin
#define ITOL   1e-4f
 def tolerance for the end of iterations in inv_kin
#define DEBUG_ET   ;


Define Documentation

#define DEBUG_ET   ;
 

Definition at line 206 of file invkine.cpp.

Referenced by ROBOOP::Robot_basic::inv_kin_pos().

#define ITOL   1e-4f
 

def tolerance for the end of iterations in inv_kin

Definition at line 76 of file invkine.cpp.

Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), ROBOOP::Robot_basic::inv_kin(), ROBOOP::Robot_basic::inv_kin_orientation(), and ROBOOP::Robot_basic::inv_kin_pos().

#define NITMAX   1000
 

def maximum number of iterations in inv_kin

Definition at line 74 of file invkine.cpp.

Referenced by ROBOOP::Robot_basic::inv_kin(), ROBOOP::Robot_basic::inv_kin_orientation(), and ROBOOP::Robot_basic::inv_kin_pos().


ROBOOP v1.21a
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