OpenRAVE Documentation

ikfast_generator_cpp Module

generates C++ code from the IKFastSolver AST.

class openravepy.ikfast_generator_cpp.CodeGenerator(kinematicshash='', version='0')[source]

Bases: openravepy.metaclass.AutoReloader

Generates C++ code from an AST generated by IKFastSolver.

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

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

Bases: 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)[source]
openravepy.ikfast_generator_cpp.evalNumbers(expr)[source]

Replaces all numbers with symbols, this is to make gcd faster when fractions get too big

class openravepy.ikfast_generator_cpp.fmod[source]

Bases: 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

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