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ikfast_generator_cpp Module

generates C++ code from the IKFastSolver AST.

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.

GetIkFunctionPreamble(node)[ソース]
copyequations(dictequations=None)[ソース]
endBranchConds(node)[ソース]
endBreak(node)[ソース]
endChain(node)[ソース]
endCheckZeros(node)[ソース]
endCoeffFunction(node)[ソース]
endConditionedSolution(node)[ソース]
endDirection(node)[ソース]
endFreeParameter(node)[ソース]
endIKChainDirection3D(node)[ソース]
endIKChainLookat3D(node)[ソース]
endIKChainRay(node)[ソース]
endIKChainRotation3D(node)[ソース]
endIKChainTranslation3D(node)[ソース]
endIKChainTranslationXY2D(node)[ソース]
endMatrixInverse(node)[ソース]
endPolynomialRoots(node)[ソース]
endRotation(node)[ソース]
endSequence(node)[ソース]
endSolution(node)[ソース]
endSolverIKChainAxisAngle(node)[ソース]
endStoreSolution(node)[ソース]
generate(solvertree)[ソース]
generateBranchConds(node)[ソース]
generateBreak(node)[ソース]
generateChain(node)[ソース]
generateCheckZeros(node)[ソース]
generateCoeffFunction(node)[ソース]
generateConditionedSolution(node)[ソース]
generateDirection(node)[ソース]
generateFreeParameter(node)[ソース]
generateIKChainDirection3D(node)[ソース]
generateIKChainLookat3D(node)[ソース]
generateIKChainRay(node)[ソース]
generateIKChainRotation3D(node)[ソース]
generateIKChainTranslation3D(node)[ソース]
generateIKChainTranslationXY2D(node)[ソース]
generateMatrixInverse(node)[ソース]
generatePolynomialRoots(node)[ソース]
generateRotation(node)[ソース]
generateSequence(node)[ソース]
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.

generateSolverIKChainAxisAngle(node)[ソース]
generateStoreSolution(node)[ソース]
generateTree(tree)[ソース]
getClassInit(node, iktype, userotation=7, usetranslation=7)[ソース]
getFKFunctionPreamble()[ソース]
indentCode(code, numspaces)[ソース]
resetequations()[ソース]
using_checkconsistency12()[ソース]
using_checkconsistency16()[ソース]
using_checkconsistency8()[ソース]
using_matrixinverse()[ソース]
using_polyroots(deg)[ソース]
using_solvedialyticpoly12qep()[ソース]
using_solvedialyticpoly16lep()[ソース]
using_solvedialyticpoly8qep()[ソース]
writeEquations(varnamefn, allexprs)[ソース]
writeExprCode(expr)[ソース]
class openravepy.ikfast_generator_cpp.atan2check[ソース]

ベースクラス: sympy.functions.elementary.trigonometric.atan2

default_assumptions = {'real': True, 'imaginary': False, 'complex': True, 'commutative': True}
is_Function = True
is_commutative = True
is_complex = True
is_imaginary = False
is_real = True
nargs = 2
openravepy.ikfast_generator_cpp.customcse(rawexprs, symbols=None)[ソース]
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

class openravepy.ikfast_generator_cpp.fmod[ソース]

ベースクラス: sympy.core.function.Function

default_assumptions = {'real': True, 'imaginary': False, 'complex': True, 'commutative': True}
is_Function = True
is_commutative = True
is_complex = True
is_imaginary = False
is_real = True
nargs = 2