ikfast_generator_cpp Module
generates C++ code from the IKFastSolver AST.
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class openravepy.ikfast_generator_cpp.CodeGenerator(kinematicshash='', version='0')[ソース]
ベースクラス: openravepy.metaclass.AutoReloader
Generates C++ code from an AST generated by IKFastSolver.
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GetIkFunctionPreamble(node)[ソース]
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copyequations(dictequations=None)[ソース]
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endBranchConds(node)[ソース]
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endBreak(node)[ソース]
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endChain(node)[ソース]
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endCheckZeros(node)[ソース]
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endCoeffFunction(node)[ソース]
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endConditionedSolution(node)[ソース]
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endDirection(node)[ソース]
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endFreeParameter(node)[ソース]
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endIKChainDirection3D(node)[ソース]
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endIKChainLookat3D(node)[ソース]
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endIKChainRay(node)[ソース]
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endIKChainRotation3D(node)[ソース]
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endIKChainTranslation3D(node)[ソース]
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endIKChainTranslationXY2D(node)[ソース]
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endMatrixInverse(node)[ソース]
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endPolynomialRoots(node)[ソース]
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endRotation(node)[ソース]
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endSequence(node)[ソース]
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endSolution(node)[ソース]
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endSolverIKChainAxisAngle(node)[ソース]
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endStoreSolution(node)[ソース]
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generate(solvertree)[ソース]
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generateBranchConds(node)[ソース]
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generateBreak(node)[ソース]
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generateChain(node)[ソース]
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generateCheckZeros(node)[ソース]
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generateCoeffFunction(node)[ソース]
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generateConditionedSolution(node)[ソース]
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generateDirection(node)[ソース]
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generateFreeParameter(node)[ソース]
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generateIKChainDirection3D(node)[ソース]
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generateIKChainLookat3D(node)[ソース]
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generateIKChainRay(node)[ソース]
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generateIKChainRotation3D(node)[ソース]
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generateIKChainTranslation3D(node)[ソース]
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generateIKChainTranslationXY2D(node)[ソース]
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generateMatrixInverse(node)[ソース]
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generatePolynomialRoots(node)[ソース]
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generateRotation(node)[ソース]
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generateSequence(node)[ソース]
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generateSolution(node, declarearray=True, acceptfreevars=True)[ソース]
writes the solution of one variable
:param declarearray: if False, will return the equations to be written without evaluating them. Used for conditioned solutions.
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generateSolverIKChainAxisAngle(node)[ソース]
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generateStoreSolution(node)[ソース]
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generateTree(tree)[ソース]
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getClassInit(node, iktype, userotation=7, usetranslation=7)[ソース]
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getFKFunctionPreamble()[ソース]
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indentCode(code, numspaces)[ソース]
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resetequations()[ソース]
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using_checkconsistency12()[ソース]
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using_checkconsistency16()[ソース]
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using_checkconsistency8()[ソース]
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using_matrixinverse()[ソース]
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using_polyroots(deg)[ソース]
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using_solvedialyticpoly12qep()[ソース]
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using_solvedialyticpoly16lep()[ソース]
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using_solvedialyticpoly8qep()[ソース]
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writeEquations(varnamefn, allexprs)[ソース]
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writeExprCode(expr)[ソース]
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class openravepy.ikfast_generator_cpp.atan2check[ソース]
ベースクラス: sympy.functions.elementary.trigonometric.atan2
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default_assumptions = {'real': True, 'imaginary': False, 'complex': True, 'commutative': True}
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is_Function = True
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is_commutative = True
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is_complex = True
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is_imaginary = False
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is_real = True
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nargs = 2
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openravepy.ikfast_generator_cpp.customcse(rawexprs, symbols=None)[ソース]
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openravepy.ikfast_generator_cpp.evalNumbers(expr)[ソース]
Replaces all numbers with symbols, this is to make gcd faster when fractions get too big
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class openravepy.ikfast_generator_cpp.fmod[ソース]
ベースクラス: sympy.core.function.Function
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default_assumptions = {'real': True, 'imaginary': False, 'complex': True, 'commutative': True}
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is_Function = True
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is_commutative = True
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is_complex = True
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is_imaginary = False
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is_real = True
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nargs = 2