planners/ik_aca/IK_ACA.cpp File Reference

#include "synchronization/semaphore.h"
#include "robots/R_OpenChain.h"
#include "IK_ACA.h"
#include <assert.h>
#include <math.h>
#include <math/math2.h>
#include <math/vector4.h>
#include <math/matrix4x4.h>
#include <iosfwd>
#include <iostream>
#include <limits.h>
#include "Kinematics/DH_Link.h"
#include "opengl/glos.h"
#include <gl/gl.h>

Include dependency graph for IK_ACA.cpp:

Go to the source code of this file.

Defines
#define	_USE_ORIENTATION_
Variables
static const char	FILEEXT [] = ".ikaca"
static const char	FILEHEADER [] = "INVERSE_ACA_PLANNER"
static const Vector4	PX (1, 0, 0)
static const Vector4	PY (0, 1, 0)
static const Vector4	PZ (0, 0, 1)
static const double	INFINITY = LONG_MAX
static const double	DEFAULT_TOL = 0.02
static const double	DEFAULT_TOL1 = 0.005
static const int	DEFAULT_EMBRYOS_PER_NODE = 3
static const double	SAMPLING_TIME = 0.5

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Define Documentation

#define _USE_ORIENTATION_

Definition at line 52 of file IK_ACA.cpp.

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Variable Documentation

const int DEFAULT_EMBRYOS_PER_NODE = 3 [static]

Definition at line 49 of file IK_ACA.cpp. Referenced by IK_ACA::IK_ACA().

const double DEFAULT_TOL = 0.02 [static]

Definition at line 47 of file IK_ACA.cpp.

const double DEFAULT_TOL1 = 0.005 [static]

Definition at line 48 of file IK_ACA.cpp. Referenced by IK_ACA::Search(), and IK_ACA::Search1().

const char FILEEXT[] = ".ikaca" [static]

Definition at line 40 of file IK_ACA.cpp.

const char FILEHEADER[] = "INVERSE_ACA_PLANNER" [static]

Definition at line 41 of file IK_ACA.cpp.

const double INFINITY = LONG_MAX [static]

Definition at line 46 of file IK_ACA.cpp. Referenced by IK_ACA::Explore(), IK_Jacobian::GetClosestValues(), and IK_ACA::InitBestParams().

const Vector4 PX(1, 0, 0) [static]

Referenced by PL_PRM_ClosedChain::Error1(), IK_ACA::FindJointAdjust(), and IK_ACA::FrameDistance().

const Vector4 PY(0, 1, 0) [static]

Referenced by PL_PRM_ClosedChain::Error1(), IK_ACA::FindJointAdjust(), and IK_ACA::FrameDistance().

const Vector4 PZ(0, 0, 1) [static]

Referenced by PL_RGD_PRM::Error1(), PL_PRM_ClosedChain::Error1(), IK_ACA::FindJointAdjust(), and IK_ACA::FrameDistance().

const double SAMPLING_TIME = 0.5 [static]

Definition at line 50 of file IK_ACA.cpp. Referenced by IK_ACA::GetNextConfig().

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