diff --git a/widowx_arm_bringup/package.xml b/widowx_arm_bringup/package.xml index a66e6b1..7ff3b83 100644 --- a/widowx_arm_bringup/package.xml +++ b/widowx_arm_bringup/package.xml @@ -9,6 +9,6 @@ catkin widowx_arm_description - widowx_arm_ikfast_plugin + widowx_arm_widowx_arm_ikfast_plugin widowx_arm_moveit_config diff --git a/widowx_arm_description/urdf/widowx.urdf.xacro b/widowx_arm_description/urdf/widowx.urdf.xacro index 80345f7..3d1fad8 100644 --- a/widowx_arm_description/urdf/widowx.urdf.xacro +++ b/widowx_arm_description/urdf/widowx.urdf.xacro @@ -206,7 +206,7 @@ - + diff --git a/widowx_arm_ikfast_plugin/CHANGELOG.rst b/widowx_arm_ikfast_plugin/CHANGELOG.rst deleted file mode 100644 index b0fa5ec..0000000 --- a/widowx_arm_ikfast_plugin/CHANGELOG.rst +++ /dev/null @@ -1,3 +0,0 @@ -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ -Changelog for package widowx_arm_ikfast_plugin -^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ diff --git a/widowx_arm_ikfast_plugin/CMakeLists.txt b/widowx_arm_ikfast_plugin/CMakeLists.txt deleted file mode 100644 index ae4399a..0000000 --- a/widowx_arm_ikfast_plugin/CMakeLists.txt +++ /dev/null @@ -1,56 +0,0 @@ -cmake_minimum_required(VERSION 2.8.12) -project(widowx_arm_ikfast_plugin) - -find_package(catkin REQUIRED COMPONENTS - cmake_modules - moveit_core - pluginlib - roscpp - tf_conversions - ) -find_package(Boost REQUIRED) -find_package(Eigen3 REQUIRED) - -catkin_package( - LIBRARIES - DEPENDS - moveit_core - pluginlib - roscpp - tf_conversions - ) - -add_compile_options("-std=c++11") - -include_directories(${catkin_INCLUDE_DIRS}) -include_directories(${Eigen_INCLUDE_DIRS}) -include_directories(include) - -link_directories(${catkin_LIBRARY_DIRS}) - -set(MOVEIT_LIB_NAME widowx_arm_moveit_ikfast_kinematics_plugin) - -add_library(${MOVEIT_LIB_NAME} src/widowx_arm_ikfast_moveit_plugin.cpp) -target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES}) - -install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) -install(DIRECTORY include/ DESTINATION include) - -install(FILES widowx_arm_moveit_ikfast_plugin_description.xml - DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} -) - - - - - - - - - - - - - - - diff --git a/widowx_arm_ikfast_plugin/include/ikfast.h b/widowx_arm_ikfast_plugin/include/ikfast.h deleted file mode 100644 index 9a2a2f1..0000000 --- a/widowx_arm_ikfast_plugin/include/ikfast.h +++ /dev/null @@ -1,328 +0,0 @@ -// -*- coding: utf-8 -*- -// Copyright (C) 2012 Rosen Diankov -// -// Licensed under the Apache License, Version 2.0 (the "License"); -// you may not use this file except in compliance with the License. -// You may obtain a copy of the License at -// http://www.apache.org/licenses/LICENSE-2.0 -// -// Unless required by applicable law or agreed to in writing, software -// distributed under the License is distributed on an "AS IS" BASIS, -// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -// See the License for the specific language governing permissions and -// limitations under the License. -/** \brief Header file for all ikfast c++ files/shared objects. - - The ikfast inverse kinematics compiler is part of OpenRAVE. - - The file is divided into two sections: - - Common - the abstract classes section that all ikfast share regardless of their settings - - Library Specific - the library-specific definitions, which depends on the precision/settings that the library was compiled with - - The defines are as follows, they are also used for the ikfast C++ class: - - - IKFAST_HEADER_COMMON - common classes - - IKFAST_HAS_LIBRARY - if defined, will include library-specific functions. by default this is off - - IKFAST_CLIBRARY - Define this linking statically or dynamically to get correct visibility. - - IKFAST_NO_MAIN - Remove the ``main`` function, usually used with IKFAST_CLIBRARY - - IKFAST_ASSERT - Define in order to get a custom assert called when NaNs, divides by zero, and other invalid conditions are detected. - - IKFAST_REAL - Use to force a custom real number type for IkReal. - - IKFAST_NAMESPACE - Enclose all functions and classes in this namespace, the ``main`` function is excluded. - - */ -#include -#include -#include - -#ifndef IKFAST_HEADER_COMMON -#define IKFAST_HEADER_COMMON - -/// should be the same as ikfast.__version__ -#define IKFAST_VERSION 61 - -namespace ikfast { - -/// \brief holds the solution for a single dof -template -class IkSingleDOFSolutionBase -{ -public: - IkSingleDOFSolutionBase() : fmul(0), foffset(0), freeind(-1), maxsolutions(1) { - indices[0] = indices[1] = indices[2] = indices[3] = indices[4] = -1; - } - T fmul, foffset; ///< joint value is fmul*sol[freeind]+foffset - signed char freeind; ///< if >= 0, mimics another joint - unsigned char jointtype; ///< joint type, 0x01 is revolute, 0x11 is slider - unsigned char maxsolutions; ///< max possible indices, 0 if controlled by free index or a free joint itself - unsigned char indices[5]; ///< unique index of the solution used to keep track on what part it came from. sometimes a solution can be repeated for different indices. store at least another repeated root -}; - -/// \brief The discrete solutions are returned in this structure. -/// -/// Sometimes the joint axes of the robot can align allowing an infinite number of solutions. -/// Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its prototype is: -template -class IkSolutionBase -{ -public: - virtual ~IkSolutionBase() { - } - /// \brief gets a concrete solution - /// - /// \param[out] solution the result - /// \param[in] freevalues values for the free parameters \se GetFree - virtual void GetSolution(T* solution, const T* freevalues) const = 0; - - /// \brief std::vector version of \ref GetSolution - virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const { - solution.resize(GetDOF()); - GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); - } - - /// \brief Gets the indices of the configuration space that have to be preset before a full solution can be returned - /// - /// \return vector of indices indicating the free parameters - virtual const std::vector& GetFree() const = 0; - - /// \brief the dof of the solution - virtual const int GetDOF() const = 0; -}; - -/// \brief manages all the solutions -template -class IkSolutionListBase -{ -public: - virtual ~IkSolutionListBase() { - } - - /// \brief add one solution and return its index for later retrieval - /// - /// \param vinfos Solution data for each degree of freedom of the manipulator - /// \param vfree If the solution represents an infinite space, holds free parameters of the solution that users can freely set. - virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) = 0; - - /// \brief returns the solution pointer - virtual const IkSolutionBase& GetSolution(size_t index) const = 0; - - /// \brief returns the number of solutions stored - virtual size_t GetNumSolutions() const = 0; - - /// \brief clears all current solutions, note that any memory addresses returned from \ref GetSolution will be invalidated. - virtual void Clear() = 0; -}; - -/// \brief holds function pointers for all the exported functions of ikfast -template -class IkFastFunctions -{ -public: - IkFastFunctions() : _ComputeIk(NULL), _ComputeFk(NULL), _GetNumFreeParameters(NULL), _GetFreeParameters(NULL), _GetNumJoints(NULL), _GetIkRealSize(NULL), _GetIkFastVersion(NULL), _GetIkType(NULL), _GetKinematicsHash(NULL) { - } - virtual ~IkFastFunctions() { - } - typedef bool (*ComputeIkFn)(const T*, const T*, const T*, IkSolutionListBase&); - ComputeIkFn _ComputeIk; - typedef void (*ComputeFkFn)(const T*, T*, T*); - ComputeFkFn _ComputeFk; - typedef int (*GetNumFreeParametersFn)(); - GetNumFreeParametersFn _GetNumFreeParameters; - typedef int* (*GetFreeParametersFn)(); - GetFreeParametersFn _GetFreeParameters; - typedef int (*GetNumJointsFn)(); - GetNumJointsFn _GetNumJoints; - typedef int (*GetIkRealSizeFn)(); - GetIkRealSizeFn _GetIkRealSize; - typedef const char* (*GetIkFastVersionFn)(); - GetIkFastVersionFn _GetIkFastVersion; - typedef int (*GetIkTypeFn)(); - GetIkTypeFn _GetIkType; - typedef const char* (*GetKinematicsHashFn)(); - GetKinematicsHashFn _GetKinematicsHash; -}; - -// Implementations of the abstract classes, user doesn't need to use them - -/// \brief Default implementation of \ref IkSolutionBase -template -class IkSolution : public IkSolutionBase -{ -public: - IkSolution(const std::vector >& vinfos, const std::vector& vfree) { - _vbasesol = vinfos; - _vfree = vfree; - } - - virtual void GetSolution(T* solution, const T* freevalues) const { - for(std::size_t i = 0; i < _vbasesol.size(); ++i) { - if( _vbasesol[i].freeind < 0 ) - solution[i] = _vbasesol[i].foffset; - else { - solution[i] = freevalues[_vbasesol[i].freeind]*_vbasesol[i].fmul + _vbasesol[i].foffset; - if( solution[i] > T(3.14159265358979) ) { - solution[i] -= T(6.28318530717959); - } - else if( solution[i] < T(-3.14159265358979) ) { - solution[i] += T(6.28318530717959); - } - } - } - } - - virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const { - solution.resize(GetDOF()); - GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); - } - - virtual const std::vector& GetFree() const { - return _vfree; - } - virtual const int GetDOF() const { - return static_cast(_vbasesol.size()); - } - - virtual void Validate() const { - for(size_t i = 0; i < _vbasesol.size(); ++i) { - if( _vbasesol[i].maxsolutions == (unsigned char)-1) { - throw std::runtime_error("max solutions for joint not initialized"); - } - if( _vbasesol[i].maxsolutions > 0 ) { - if( _vbasesol[i].indices[0] >= _vbasesol[i].maxsolutions ) { - throw std::runtime_error("index >= max solutions for joint"); - } - if( _vbasesol[i].indices[1] != (unsigned char)-1 && _vbasesol[i].indices[1] >= _vbasesol[i].maxsolutions ) { - throw std::runtime_error("2nd index >= max solutions for joint"); - } - } - } - } - - virtual void GetSolutionIndices(std::vector& v) const { - v.resize(0); - v.push_back(0); - for(int i = (int)_vbasesol.size()-1; i >= 0; --i) { - if( _vbasesol[i].maxsolutions != (unsigned char)-1 && _vbasesol[i].maxsolutions > 1 ) { - for(size_t j = 0; j < v.size(); ++j) { - v[j] *= _vbasesol[i].maxsolutions; - } - size_t orgsize=v.size(); - if( _vbasesol[i].indices[1] != (unsigned char)-1 ) { - for(size_t j = 0; j < orgsize; ++j) { - v.push_back(v[j]+_vbasesol[i].indices[1]); - } - } - if( _vbasesol[i].indices[0] != (unsigned char)-1 ) { - for(size_t j = 0; j < orgsize; ++j) { - v[j] += _vbasesol[i].indices[0]; - } - } - } - } - } - - std::vector< IkSingleDOFSolutionBase > _vbasesol; ///< solution and their offsets if joints are mimiced - std::vector _vfree; -}; - -/// \brief Default implementation of \ref IkSolutionListBase -template -class IkSolutionList : public IkSolutionListBase -{ -public: - virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) - { - size_t index = _listsolutions.size(); - _listsolutions.push_back(IkSolution(vinfos,vfree)); - return index; - } - - virtual const IkSolutionBase& GetSolution(size_t index) const - { - if( index >= _listsolutions.size() ) { - throw std::runtime_error("GetSolution index is invalid"); - } - typename std::list< IkSolution >::const_iterator it = _listsolutions.begin(); - std::advance(it,index); - return *it; - } - - virtual size_t GetNumSolutions() const { - return _listsolutions.size(); - } - - virtual void Clear() { - _listsolutions.clear(); - } - -protected: - std::list< IkSolution > _listsolutions; -}; - -} - -#endif // OPENRAVE_IKFAST_HEADER - -// The following code is dependent on the C++ library linking with. -#ifdef IKFAST_HAS_LIBRARY - -// defined when creating a shared object/dll -#ifdef IKFAST_CLIBRARY -#ifdef _MSC_VER -#define IKFAST_API extern "C" __declspec(dllexport) -#else -#define IKFAST_API extern "C" -#endif -#else -#define IKFAST_API -#endif - -#ifdef IKFAST_NAMESPACE -namespace IKFAST_NAMESPACE { -#endif - -#ifdef IKFAST_REAL -typedef IKFAST_REAL IkReal; -#else -typedef double IkReal; -#endif - -/** \brief Computes all IK solutions given a end effector coordinates and the free joints. - - - ``eetrans`` - 3 translation values. For iktype **TranslationXYOrientation3D**, the z-axis is the orientation. - - ``eerot`` - - For **Transform6D** it is 9 values for the 3x3 rotation matrix. - - For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction. - - For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D** the first value represents the angle. - - For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end effector coordinate system. - */ -IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, ikfast::IkSolutionListBase& solutions); - -/// \brief Computes the end effector coordinates given the joint values. This function is used to double check ik. -IKFAST_API void ComputeFk(const IkReal* joints, IkReal* eetrans, IkReal* eerot); - -/// \brief returns the number of free parameters users has to set apriori -IKFAST_API int GetNumFreeParameters(); - -/// \brief the indices of the free parameters indexed by the chain joints -IKFAST_API int* GetFreeParameters(); - -/// \brief the total number of indices of the chain -IKFAST_API int GetNumJoints(); - -/// \brief the size in bytes of the configured number type -IKFAST_API int GetIkRealSize(); - -/// \brief the ikfast version used to generate this file -IKFAST_API const char* GetIkFastVersion(); - -/// \brief the ik type ID -IKFAST_API int GetIkType(); - -/// \brief a hash of all the chain values used for double checking that the correct IK is used. -IKFAST_API const char* GetKinematicsHash(); - -#ifdef IKFAST_NAMESPACE -} -#endif - -#endif // IKFAST_HAS_LIBRARY diff --git a/widowx_arm_ikfast_plugin/package.xml b/widowx_arm_ikfast_plugin/package.xml deleted file mode 100644 index f29fc89..0000000 --- a/widowx_arm_ikfast_plugin/package.xml +++ /dev/null @@ -1,27 +0,0 @@ - - - widowx_arm_ikfast_plugin - 0.1.0 - The widowx_arm_ikfast_plugin package - Renee Love - BSD - - - catkin - - cmake_modules - moveit_core - pluginlib - roscpp - tf_conversions - - cmake_modules - moveit_core - pluginlib - roscpp - tf_conversions - - - - - diff --git a/widowx_arm_ikfast_plugin/plugin_creation/WidowX Arm IKFAST Notes b/widowx_arm_ikfast_plugin/plugin_creation/WidowX Arm IKFAST Notes deleted file mode 100644 index b97f209..0000000 --- a/widowx_arm_ikfast_plugin/plugin_creation/WidowX Arm IKFAST Notes +++ /dev/null @@ -1,59 +0,0 @@ -turtlebot@NUC-6i7:~/widowx_arm/src/widowx_arm/widowx_arm_description/robots$ - -$ rosrun xacro xacro --inorder -o widowx_arm_ikfast.urdf widowx_arm.urdf.xacro -$ rosrun collada_urdf urdf_to_collada widowx_arm_ikfast.urdf widowx_arm_ikfast.dae -$ rosrun moveit_kinematics round_collada_numbers.py widowx_arm_ikfast.dae widowx_arm_ikfast.rounded.dae 5 -$ openrave-robot.py widowx_arm_ikfast.rounded.dae --info links - -name index parents ------------------------------------ -base_footprint 0 -arm_base_link 1 base_footprint -shoulder_link 2 arm_base_link -biceps_link 3 shoulder_link -forearm_link 4 biceps_link -wrist_1_link 5 forearm_link -wrist_2_link 6 wrist_1_link ------------------------------------ -name index parents - -$ openrave-robot.py widowx_arm_ikfast.rounded.dae --info joints - -name joint_index dof_index parent_link child_link mimic ------------------------------------------------------------------------ -joint_1 0 0 arm_base_link shoulder_link -joint_2 1 1 shoulder_link biceps_link -joint_3 2 2 biceps_link forearm_link -joint_4 3 3 forearm_link wrist_1_link -joint_5 4 4 wrist_1_link wrist_2_link -arm_base_joint -1 -1 base_footprint arm_base_link ------------------------------------------------------------------------ -name joint_index dof_index parent_link child_link mimic - -$ openrave widowx_arm_ikfast.rounded.dae - -Successful generation of WidowX 5 dof IKFast ~1.1 minutes on NUC i7 - -$ python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=widowx_arm_ikfast.rounded.dae --iktype=translationdirection5d --baselink=1 --eelink=6 --savefile=./ikfast_widowx_arm.cpp -d 1 - -INFO: solved coupled variables: [j0, j1, j2, j3, j4] -INFO: generating cpp code... -INFO: c=1 var=j0 -INFO: c=2 var=j4 -INFO: c=3 var=j3 -INFO: c=4 var=j2 -INFO: c=5, store solution -INFO: c=6 var=j3 -INFO: c=7 var=j2 -INFO: c=8, store solution -INFO: c=9 var=j3 -INFO: c=10 var=j2 -INFO: c=11, store solution -INFO: c=12 var=j2 -INFO: c=13, store solution -INFO: c=14 var=j2 -INFO: c=15, store solution -INFO: c=16 var=j2 -INFO: c=17, store solution -INFO: c=18 var=j2 -INFO: c=19, store solution diff --git a/widowx_arm_ikfast_plugin/plugin_creation/ikfast_widowx_arm.cpp b/widowx_arm_ikfast_plugin/plugin_creation/ikfast_widowx_arm.cpp deleted file mode 100644 index cccb52a..0000000 --- a/widowx_arm_ikfast_plugin/plugin_creation/ikfast_widowx_arm.cpp +++ /dev/null @@ -1,2137 +0,0 @@ -/// autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE -/// \author Rosen Diankov -/// -/// Licensed under the Apache License, Version 2.0 (the "License"); -/// you may not use this file except in compliance with the License. -/// You may obtain a copy of the License at -/// http://www.apache.org/licenses/LICENSE-2.0 -/// -/// Unless required by applicable law or agreed to in writing, software -/// distributed under the License is distributed on an "AS IS" BASIS, -/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -/// See the License for the specific language governing permissions and -/// limitations under the License. -/// -/// ikfast version 0x10000049 generated on 2017-06-14 11:26:52.823470 -/// To compile with gcc: -/// gcc -lstdc++ ik.cpp -/// To compile without any main function as a shared object (might need -llapack): -/// gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp -#define IKFAST_HAS_LIBRARY -#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h -using namespace ikfast; - -// check if the included ikfast version matches what this file was compiled with -#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] -IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x10000049); - -#include -#include -#include -#include -#include - -#ifndef IKFAST_ASSERT -#include -#include -#include - -#ifdef _MSC_VER -#ifndef __PRETTY_FUNCTION__ -#define __PRETTY_FUNCTION__ __FUNCDNAME__ -#endif -#endif - -#ifndef __PRETTY_FUNCTION__ -#define __PRETTY_FUNCTION__ __func__ -#endif - -#define IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } } - -#endif - -#if defined(_MSC_VER) -#define IKFAST_ALIGNED16(x) __declspec(align(16)) x -#else -#define IKFAST_ALIGNED16(x) x __attribute((aligned(16))) -#endif - -#define IK2PI ((IkReal)6.28318530717959) -#define IKPI ((IkReal)3.14159265358979) -#define IKPI_2 ((IkReal)1.57079632679490) - -#ifdef _MSC_VER -#ifndef isnan -#define isnan _isnan -#endif -#ifndef isinf -#define isinf _isinf -#endif -//#ifndef isfinite -//#define isfinite _isfinite -//#endif -#endif // _MSC_VER - -// lapack routines -extern "C" { - void dgetrf_ (const int* m, const int* n, double* a, const int* lda, int* ipiv, int* info); - void zgetrf_ (const int* m, const int* n, std::complex* a, const int* lda, int* ipiv, int* info); - void dgetri_(const int* n, const double* a, const int* lda, int* ipiv, double* work, const int* lwork, int* info); - void dgesv_ (const int* n, const int* nrhs, double* a, const int* lda, int* ipiv, double* b, const int* ldb, int* info); - void dgetrs_(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info); - void dgeev_(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi,double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info); -} - -using namespace std; // necessary to get std math routines - -#ifdef IKFAST_NAMESPACE -namespace IKFAST_NAMESPACE { -#endif - -inline float IKabs(float f) { return fabsf(f); } -inline double IKabs(double f) { return fabs(f); } - -inline float IKsqr(float f) { return f*f; } -inline double IKsqr(double f) { return f*f; } - -inline float IKlog(float f) { return logf(f); } -inline double IKlog(double f) { return log(f); } - -// allows asin and acos to exceed 1. has to be smaller than thresholds used for branch conds and evaluation -#ifndef IKFAST_SINCOS_THRESH -#define IKFAST_SINCOS_THRESH ((IkReal)1e-7) -#endif - -// used to check input to atan2 for degenerate cases. has to be smaller than thresholds used for branch conds and evaluation -#ifndef IKFAST_ATAN2_MAGTHRESH -#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7) -#endif - -// minimum distance of separate solutions -#ifndef IKFAST_SOLUTION_THRESH -#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6) -#endif - -// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold speicfies by how much they can deviate -#ifndef IKFAST_EVALCOND_THRESH -#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001) -#endif - - -inline float IKasin(float f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return float(-IKPI_2); -else if( f >= 1 ) return float(IKPI_2); -return asinf(f); -} -inline double IKasin(double f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return -IKPI_2; -else if( f >= 1 ) return IKPI_2; -return asin(f); -} - -// return positive value in [0,y) -inline float IKfmod(float x, float y) -{ - while(x < 0) { - x += y; - } - return fmodf(x,y); -} - -// return positive value in [0,y) -inline double IKfmod(double x, double y) -{ - while(x < 0) { - x += y; - } - return fmod(x,y); -} - -inline float IKacos(float f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return float(IKPI); -else if( f >= 1 ) return float(0); -return acosf(f); -} -inline double IKacos(double f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return IKPI; -else if( f >= 1 ) return 0; -return acos(f); -} -inline float IKsin(float f) { return sinf(f); } -inline double IKsin(double f) { return sin(f); } -inline float IKcos(float f) { return cosf(f); } -inline double IKcos(double f) { return cos(f); } -inline float IKtan(float f) { return tanf(f); } -inline double IKtan(double f) { return tan(f); } -inline float IKsqrt(float f) { if( f <= 0.0f ) return 0.0f; return sqrtf(f); } -inline double IKsqrt(double f) { if( f <= 0.0 ) return 0.0; return sqrt(f); } -inline float IKatan2Simple(float fy, float fx) { - return atan2f(fy,fx); -} -inline float IKatan2(float fy, float fx) { - if( isnan(fy) ) { - IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned - return float(IKPI_2); - } - else if( isnan(fx) ) { - return 0; - } - return atan2f(fy,fx); -} -inline double IKatan2Simple(double fy, double fx) { - return atan2(fy,fx); -} -inline double IKatan2(double fy, double fx) { - if( isnan(fy) ) { - IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned - return IKPI_2; - } - else if( isnan(fx) ) { - return 0; - } - return atan2(fy,fx); -} - -template -struct CheckValue -{ - T value; - bool valid; -}; - -template -inline CheckValue IKatan2WithCheck(T fy, T fx, T epsilon) -{ - CheckValue ret; - ret.valid = false; - ret.value = 0; - if( !isnan(fy) && !isnan(fx) ) { - if( IKabs(fy) >= IKFAST_ATAN2_MAGTHRESH || IKabs(fx) > IKFAST_ATAN2_MAGTHRESH ) { - ret.value = IKatan2Simple(fy,fx); - ret.valid = true; - } - } - return ret; -} - -inline float IKsign(float f) { - if( f > 0 ) { - return float(1); - } - else if( f < 0 ) { - return float(-1); - } - return 0; -} - -inline double IKsign(double f) { - if( f > 0 ) { - return 1.0; - } - else if( f < 0 ) { - return -1.0; - } - return 0; -} - -template -inline CheckValue IKPowWithIntegerCheck(T f, int n) -{ - CheckValue ret; - ret.valid = true; - if( n == 0 ) { - ret.value = 1.0; - return ret; - } - else if( n == 1 ) - { - ret.value = f; - return ret; - } - else if( n < 0 ) - { - if( f == 0 ) - { - ret.valid = false; - ret.value = (T)1.0e30; - return ret; - } - if( n == -1 ) { - ret.value = T(1.0)/f; - return ret; - } - } - - int num = n > 0 ? n : -n; - if( num == 2 ) { - ret.value = f*f; - } - else if( num == 3 ) { - ret.value = f*f*f; - } - else { - ret.value = 1.0; - while(num>0) { - if( num & 1 ) { - ret.value *= f; - } - num >>= 1; - f *= f; - } - } - - if( n < 0 ) { - ret.value = T(1.0)/ret.value; - } - return ret; -} - -/// solves the forward kinematics equations. -/// \param pfree is an array specifying the free joints of the chain. -IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) { -IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25,x26,x27; -x0=IKcos(j[0]); -x1=IKsin(j[1]); -x2=IKcos(j[2]); -x3=IKcos(j[1]); -x4=IKsin(j[2]); -x5=IKcos(j[3]); -x6=IKsin(j[0]); -x7=IKsin(j[3]); -x8=IKcos(j[4]); -x9=IKsin(j[4]); -x10=((0.04825)*x3); -x11=((0.14203)*x4); -x12=((1.0)*x0); -x13=((1.0)*x7); -x14=((0.0715)*x2); -x15=((0.14203)*x1); -x16=((0.0715)*x0); -x17=((0.0715)*x6); -x18=((2.0e-7)*x6); -x19=((1.0)*x6); -x20=((2.0e-7)*x0); -x21=((1.0)*x5); -x22=(x1*x4); -x23=(x1*x2); -x24=(x1*x6); -x25=(x2*x3); -x26=(x3*x4); -x27=(x0*x1); -IkReal x28=((1.0)*x16); -IkReal x29=((1.0)*x27); -eetrans[0]=(((x0*x15))+((x0*x10))+(((0.14203)*x0*x25))+((x7*(((((-1.0)*x14*x29))+(((-1.0)*x26*x28))))))+(((-1.0)*x11*x29))+((x20*x23))+((x20*x26))+((x5*(((((-1.0)*x22*x28))+((x0*x14*x3))))))); -IkReal x30=((1.0)*x17); -IkReal x31=((1.0)*x24); -eetrans[1]=(((x18*x23))+((x18*x26))+(((-1.0)*x11*x31))+((x7*(((((-1.0)*x26*x30))+(((-1.0)*x14*x31))))))+((x10*x6))+((x5*(((((-1.0)*x22*x30))+((x14*x3*x6))))))+(((0.14203)*x25*x6))+((x15*x6))); -IkReal x32=((1.0)*x3); -eetrans[2]=((0.125)+(((2.0e-7)*x25))+((x7*(((((0.0715)*x22))+(((-1.0)*x14*x32))))))+(((0.14203)*x3))+(((-1.0)*x11*x32))+(((-2.0e-7)*x22))+((x5*(((((-1.0)*x1*x14))+(((-0.0715)*x26))))))+(((-1.0)*x15*x2))+(((-0.04825)*x1))); -eerot[0]=(((x6*x9))+(((-1.0)*x8*((((x13*((((x12*x26))+((x12*x23))))))+((x21*((((x0*x22))+(((-1.0)*x12*x25))))))))))); -eerot[1]=((((-1.0)*x12*x9))+(((-1.0)*x8*((((x21*((((x22*x6))+(((-1.0)*x19*x25))))))+((x13*((((x19*x26))+((x19*x23))))))))))); -eerot[2]=((-1.0)*x8*((((x21*((x26+x23))))+((x13*(((((-1.0)*x22))+(((1.0)*x25))))))))); -} - -IKFAST_API int GetNumFreeParameters() { return 0; } -IKFAST_API int* GetFreeParameters() { return NULL; } -IKFAST_API int GetNumJoints() { return 5; } - -IKFAST_API int GetIkRealSize() { return sizeof(IkReal); } - -IKFAST_API int GetIkType() { return 0x56000007; } - -class IKSolver { -public: -IkReal j0,cj0,sj0,htj0,j0mul,j1,cj1,sj1,htj1,j1mul,j2,cj2,sj2,htj2,j2mul,j3,cj3,sj3,htj3,j3mul,j4,cj4,sj4,htj4,j4mul,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp; -unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4; - -IkReal j100, cj100, sj100; -unsigned char _ij100[2], _nj100; -bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { -j0=numeric_limits::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; -for(int dummyiter = 0; dummyiter < 1; ++dummyiter) { - solutions.Clear(); -px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; - -r00 = eerot[0]; -r01 = eerot[1]; -r02 = eerot[2]; -px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; -new_r00=r00; -new_px=px; -new_r01=r01; -new_py=py; -new_r02=r02; -new_pz=((-0.125)+pz); -r00 = new_r00; r01 = new_r01; r02 = new_r02; px = new_px; py = new_py; pz = new_pz; - -pp=((px*px)+(py*py)+(pz*pz)); -{ -IkReal j0eval[1]; -j0eval[0]=((IKabs(px))+(IKabs(py))); -if( IKabs(j0eval[0]) < 0.0000010000000000 ) -{ -continue; // no branches [j0] - -} else -{ -{ -IkReal j0array[2], cj0array[2], sj0array[2]; -bool j0valid[2]={false}; -_nj0 = 2; -CheckValue x34 = IKatan2WithCheck(IkReal(((-1.0)*py)),IkReal(px),IKFAST_ATAN2_MAGTHRESH); -if(!x34.valid){ -continue; -} -IkReal x33=x34.value; -j0array[0]=((-1.0)*x33); -sj0array[0]=IKsin(j0array[0]); -cj0array[0]=IKcos(j0array[0]); -j0array[1]=((3.14159265358979)+(((-1.0)*x33))); -sj0array[1]=IKsin(j0array[1]); -cj0array[1]=IKcos(j0array[1]); -if( j0array[0] > IKPI ) -{ - j0array[0]-=IK2PI; -} -else if( j0array[0] < -IKPI ) -{ j0array[0]+=IK2PI; -} -j0valid[0] = true; -if( j0array[1] > IKPI ) -{ - j0array[1]-=IK2PI; -} -else if( j0array[1] < -IKPI ) -{ j0array[1]+=IK2PI; -} -j0valid[1] = true; -for(int ij0 = 0; ij0 < 2; ++ij0) -{ -if( !j0valid[ij0] ) -{ - continue; -} -_ij0[0] = ij0; _ij0[1] = -1; -for(int iij0 = ij0+1; iij0 < 2; ++iij0) -{ -if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH ) -{ - j0valid[iij0]=false; _ij0[1] = iij0; break; -} -} -j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0]; - -IkReal op[4+1], zeror[4]; -int numroots; -op[0]=((((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((-1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((0.19114141719984)*py*pz*r01*r02*(sj0*sj0)))+(((0.00158175260252272)*py*r01*r02))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((-0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((0.56812)*pz*(py*py)*(r02*r02)))+(((0.00053734818750772)*py*sj0*(r01*r01)))+(((0.0019733285)*pz*r01*r02*sj0))+(((0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((0.386)*pz*r01*r02*sj0*(px*px)))+(((-0.579)*px*r00*r01*sj0*(py*py)))+(((-0.15024341719984)*py*pz*r01*r02))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.00143598031249228)*cj0*px*(r02*r02)))+(((-0.193)*cj0*py*r00*r01*(pz*pz)))+(((0.01113674999984)*px*py*r00*r01*(sj0*sj0)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.00556837499992)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((-7.75170003456103e-6)*(cj0*cj0)*(r00*r00)))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.00556837499992)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.55034000691221e-5)*cj0*r00*r01*sj0))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((0.00422699033747728)*py*r01*r02*(sj0*sj0)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((0.386)*cj0*pz*r00*r02*(py*py)))+(((-0.193)*px*r00*r01*sj0*(pz*pz)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((-0.193)*cj0*(px*px*px)*(r02*r02)))+(((0.56812)*r01*r02*(py*py*py)))+(((-1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.00422699033747728)*pz*(r01*r01)*(sj0*sj0)))+(((-0.09557070859992)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.19114141719984)*cj0*py*pz*r00*r02*sj0))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-0.00931224999984)*(py*py)*(r01*r01)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.00422699033747728)*pz*(cj0*cj0)*(r00*r00)))+(((-1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.09557070859992)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((0.00053734818750772)*cj0*px*(r00*r00)))+(((-2.27248)*px*py*pz*r00*r01))+(((1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.386)*cj0*px*py*pz*r01*r02))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(pz*pz)))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-0.19114141719984)*cj0*r00*r01*sj0*(pz*pz)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((0.00158175260252272)*pz*(r02*r02)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.01113674999984)*cj0*px*py*sj0*(r00*r00)))+(((1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.00158175260252272)*px*r00*r02))+(((-1.70436)*py*r01*r02*(pz*pz)))+(((0.193)*py*sj0*(px*px)*(r01*r01)))+(((0.00556837499992)*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((0.06580945860008)*(py*py)*(r02*r02)))+(((-0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((0.56812)*py*r01*r02*(px*px)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-0.00931224999984)*(px*px)*(r00*r00)))+(((0.19114141719984)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-0.00143598031249228)*py*sj0*(r02*r02)))+(((-0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.00556837499992)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00422699033747728)*cj0*px*r01*r02*sj0))+(((0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.000280271846855)*r01*r02*sj0))+(((-0.193)*cj0*px*(py*py)*(r02*r02)))+(((-0.386)*px*py*pz*r00*r02*sj0))+(((-0.386)*cj0*px*(py*py)*(r01*r01)))+(((0.00053734818750772)*cj0*py*r00*r01))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-0.193)*cj0*(px*px*px)*(r00*r00)))+(((-0.579)*cj0*py*r00*r01*(px*px)))+(((0.19114141719984)*px*pz*r00*r02*(cj0*cj0)))+(((-0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((0.56812)*px*r00*r02*(py*py)))+(((-0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.07512170859992)*(pz*pz)*(r02*r02)))+(((-0.386)*py*sj0*(px*px)*(r00*r00)))+(((0.000357149629787039)*(r02*r02)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((0.56812)*pz*(px*px)*(r02*r02)))+(((0.01113674999984)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((0.56812)*r00*r02*(px*px*px)))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-1.13624)*pz*(px*px)*(r00*r00)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((0.01113674999984)*px*py*r00*r01*(cj0*cj0)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((0.00422699033747728)*px*r00*r02*(cj0*cj0)))+(((0.000280271846855)*cj0*r00*r02))+(((0.193)*cj0*r00*r01*(py*py*py)))+(((0.00053734818750772)*px*r00*r01*sj0))+(((0.06580945860008)*(px*px)*(r02*r02)))+(((-1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((-0.00845398067495455)*cj0*pz*r00*r01*sj0))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((-2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.193)*py*sj0*(px*px)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((-1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.193)*r00*r01*sj0*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((0.00422699033747728)*cj0*py*r00*r02*sj0))+(((1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.01862449999968)*px*py*r00*r01))+(((-0.193)*sj0*(py*py*py)*(r02*r02)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((-0.15024341719984)*px*pz*r00*r02))+(((-0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((0.0019733285)*cj0*pz*r00*r02))+(((-1.13624)*pz*(py*py)*(r01*r01)))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-7.75170003456103e-6)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((-0.193)*sj0*(py*py*py)*(r01*r01)))); -op[1]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((0.00287196062498456)*cj0*px*r01*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((-0.00316350520504545)*py*sj0*(r01*r01)))+(((0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((-0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.21929432)*py*pz*r01*r02))+(((0.00287196062498456)*cj0*py*r00*r02*sj0))+(((0.00107469637501544)*py*r01*r02))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.2855113344)*cj0*py*pz*r00*r01))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-0.00316350520504545)*px*r00*r01*sj0))+(((0.00845398067495455)*cj0*px*(r02*r02)))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((0.2855113344)*py*pz*sj0*(r02*r02)))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.00287196062498456)*pz*(r01*r01)*(sj0*sj0)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((0.00287196062498456)*py*r01*r02*(sj0*sj0)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.00112108738742)*cj0*r00*r01*sj0))+(((0.21929432)*cj0*py*pz*r00*r02*sj0))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((0.21929432)*cj0*px*pz*r01*r02*sj0))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.0014596053192864)*cj0*r00*r02))+(((-0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((0.2855113344)*cj0*px*pz*(r02*r02)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.00287196062498456)*px*r00*r02*(cj0*cj0)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.00056054369371)*(r02*r02)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.00287196062498456)*pz*(cj0*cj0)*(r00*r00)))+(((0.00845398067495455)*py*sj0*(r02*r02)))+(((-0.10964716)*(pz*pz)*(r02*r02)))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-0.2855113344)*r01*r02*sj0*(px*px)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.386)*py*r01*r02*(px*px)))+(((-0.00316350520504545)*cj0*px*(r00*r00)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.10964716)*(px*px)*(r02*r02)))+(((0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.00316350520504545)*cj0*py*r00*r01))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.2855113344)*cj0*r00*r02*(py*py)))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((0.386)*px*r00*r02*(py*py)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((-0.21929432)*px*pz*r00*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((0.2855113344)*cj0*px*pz*(r00*r00)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((0.00107469637501544)*pz*(r02*r02)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.2855113344)*py*pz*sj0*(r01*r01)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.2855113344)*px*pz*r00*r01*sj0))+(((0.2855113344)*px*py*r00*r02*sj0))+(((0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((0.00107469637501544)*px*r00*r02))+(((-0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.10964716)*(py*py)*(r02*r02)))+(((0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*px*py*r01*r02))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.0014596053192864)*r01*r02*sj0))+(((-0.00574392124996912)*cj0*pz*r00*r01*sj0))); -op[2]=((((8.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((-24.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((-8.0)*px*r00*r02*(pz*pz*pz)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((-0.15389241719984)*(px*px)*(r02*r02)))+(((-24.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((8.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((8.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((-0.18873983440032)*cj0*py*pz*r00*r02*sj0))+(((0.18873983440032)*cj0*r00*r01*sj0*(pz*pz)))+(((-2.0)*(px*px*px*px)*(r02*r02)))+(((-2.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((0.32894148)*cj0*py*pz*r00*r01))+(((-4.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((4.0)*(px*px)*(pz*pz)*(r02*r02)))+(((8.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-0.32894148)*cj0*r00*r02*(py*py)))+(((0.32894148)*cj0*px*pz*(r02*r02)))+(((-24.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((0.27053583440032)*py*pz*r01*r02))+(((-8.0)*(px*px)*(pz*pz)*(r00*r00)))+(((0.00288820383843456)*cj0*r00*r01*sj0))+(((-4.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((-0.18873983440032)*py*pz*r01*r02*(sj0*sj0)))+(((8.0)*pz*r01*r02*(py*py*py)))+(((8.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((-0.03724899999936)*px*py*r00*r01))+(((-8.0)*py*r01*r02*(pz*pz*pz)))+(((0.32894148)*px*py*r00*r02*sj0))+(((-2.0)*(pz*pz*pz*pz)*(r02*r02)))+(((-8.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((8.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-2.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((-8.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-2.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-8.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-0.01862449999968)*(px*px)*(r00*r00)))+(((-8.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((0.27437458440016)*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.32894148)*cj0*px*pz*(r00*r00)))+(((-0.32894148)*r01*r02*sj0*(px*px)))+(((0.00144410191921728)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.54874916880032)*cj0*px*py*sj0*(r00*r00)))+(((-16.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((0.13526791720016)*(pz*pz)*(r02*r02)))+(((-2.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r02*r02)))+(((-0.27437458440016)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((4.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((-0.01862449999968)*(py*py)*(r01*r01)))+(((0.32894148)*cj0*px*py*r01*r02))+(((-0.15389241719984)*(py*py)*(r02*r02)))+(((0.27437458440016)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-8.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.27437458440016)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.27053583440032)*px*pz*r00*r02))+(((-8.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((0.32894148)*py*pz*sj0*(r01*r01)))+(((-0.54874916880032)*px*py*r00*r01*(sj0*sj0)))+(((-0.1800046672)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.18873983440032)*cj0*px*pz*r01*r02*sj0))+(((8.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((4.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.00168163108113)*r01*r02*sj0))+(((-0.1800046672)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-0.54874916880032)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-16.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.09436991720016)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((8.0)*py*pz*r01*r02*(px*px)))+(((-16.0)*px*py*r00*r01*(pz*pz)))+(((-2.0)*(py*py*py*py)*(r02*r02)))+(((4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.54874916880032)*px*py*r00*r01*(cj0*cj0)))+(((-16.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((8.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((8.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((8.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((0.09436991720016)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-0.000745306059712322)*(r02*r02)))+(((8.0)*pz*r00*r02*(px*px*px)))+(((-0.00168163108113)*cj0*r00*r02))+(((8.0)*px*pz*r00*r02*(py*py)))+(((-8.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-8.0)*(py*py)*(pz*pz)*(r01*r01)))+(((4.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-8.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-8.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.32894148)*py*pz*sj0*(r02*r02)))+(((-8.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-0.18873983440032)*px*pz*r00*r02*(cj0*cj0)))+(((-0.3600093344)*cj0*px*py*sj0*(r02*r02)))+(((0.32894148)*px*pz*r00*r01*sj0))+(((0.00144410191921728)*(cj0*cj0)*(r00*r00)))); -op[3]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.00287196062498456)*cj0*px*r01*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((-0.00316350520504545)*py*sj0*(r01*r01)))+(((0.10964716)*(pz*pz)*(r02*r02)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((0.00287196062498456)*cj0*py*r00*r02*sj0))+(((0.00107469637501544)*py*r01*r02))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-0.00316350520504545)*px*r00*r01*sj0))+(((0.00845398067495455)*cj0*px*(r02*r02)))+(((-0.2855113344)*px*pz*r00*r01*sj0))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((-0.2855113344)*cj0*px*py*r01*r02))+(((0.0014596053192864)*r01*r02*sj0))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.00287196062498456)*pz*(r01*r01)*(sj0*sj0)))+(((0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((0.00287196062498456)*py*r01*r02*(sj0*sj0)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.2855113344)*px*py*r00*r02*sj0))+(((-0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.2855113344)*cj0*px*pz*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.10964716)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*r00*r02*(py*py)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.2855113344)*r01*r02*sj0*(px*px)))+(((-0.21929432)*cj0*px*pz*r01*r02*sj0))+(((-0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.00287196062498456)*px*r00*r02*(cj0*cj0)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((-0.2855113344)*cj0*py*pz*r00*r01))+(((-0.2855113344)*py*pz*sj0*(r01*r01)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.00287196062498456)*pz*(cj0*cj0)*(r00*r00)))+(((0.00845398067495455)*py*sj0*(r02*r02)))+(((-0.10964716)*(py*py)*(r02*r02)))+(((0.0014596053192864)*cj0*r00*r02))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.21929432)*py*pz*r01*r02))+(((0.386)*py*r01*r02*(px*px)))+(((-0.00316350520504545)*cj0*px*(r00*r00)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((-0.00316350520504545)*cj0*py*r00*r01))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00112108738742)*cj0*r00*r01*sj0))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((0.386)*px*r00*r02*(py*py)))+(((0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((0.00107469637501544)*pz*(r02*r02)))+(((-0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((-0.2855113344)*cj0*px*pz*(r02*r02)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.00107469637501544)*px*r00*r02))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((-0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((0.21929432)*px*pz*r00*r02))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*py*pz*r00*r02*sj0))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-0.00056054369371)*(r02*r02)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.2855113344)*py*pz*sj0*(r02*r02)))+(((-0.00574392124996912)*cj0*pz*r00*r01*sj0))); -op[4]=((((-0.386)*pz*r01*r02*sj0*(px*px)))+(((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((0.193)*sj0*(py*py*py)*(r02*r02)))+(((0.19114141719984)*py*pz*r01*r02*(sj0*sj0)))+(((0.00143598031249228)*cj0*px*(r02*r02)))+(((-1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((0.386)*cj0*px*py*pz*r01*r02))+(((0.193)*py*sj0*(px*px)*(r02*r02)))+(((-0.00422699033747728)*cj0*px*r01*r02*sj0))+(((0.00422699033747728)*pz*(cj0*cj0)*(r00*r00)))+(((1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((-0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.15024341719984)*py*pz*r01*r02))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.0019733285)*pz*r01*r02*sj0))+(((-1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((0.01113674999984)*px*py*r00*r01*(sj0*sj0)))+(((-0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.00556837499992)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((-0.0019733285)*cj0*pz*r00*r02))+(((-7.75170003456103e-6)*(cj0*cj0)*(r00*r00)))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.00053734818750772)*px*r00*r01*sj0))+(((-0.00556837499992)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.55034000691221e-5)*cj0*r00*r01*sj0))+(((-0.56812)*pz*(px*px)*(r02*r02)))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((-1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((0.193)*cj0*px*(py*py)*(r02*r02)))+(((-0.00053734818750772)*py*sj0*(r01*r01)))+(((0.00422699033747728)*pz*(r01*r01)*(sj0*sj0)))+(((-0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((1.13624)*pz*(py*py)*(r01*r01)))+(((0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((-0.09557070859992)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.579)*px*r00*r01*sj0*(py*py)))+(((0.19114141719984)*cj0*py*pz*r00*r02*sj0))+(((0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-0.00931224999984)*(py*py)*(r01*r01)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.09557070859992)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((0.00143598031249228)*py*sj0*(r02*r02)))+(((-0.386)*cj0*pz*r00*r02*(py*py)))+(((0.00845398067495455)*cj0*pz*r00*r01*sj0))+(((0.386)*py*sj0*(px*px)*(r00*r00)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((-0.00422699033747728)*px*r00*r02*(cj0*cj0)))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-0.19114141719984)*cj0*r00*r01*sj0*(pz*pz)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*px*r00*r02*(py*py)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.01113674999984)*cj0*px*py*sj0*(r00*r00)))+(((0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.00556837499992)*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.193)*px*r00*r01*sj0*(pz*pz)))+(((-0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((0.386)*px*py*pz*r00*r02*sj0))+(((0.06580945860008)*(py*py)*(r02*r02)))+(((1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-0.00053734818750772)*cj0*py*r00*r01))+(((-0.00931224999984)*(px*px)*(r00*r00)))+(((0.19114141719984)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.00556837499992)*(cj0*cj0)*(px*px)*(r00*r00)))+(((2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((-0.00158175260252272)*pz*(r02*r02)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((0.000280271846855)*r01*r02*sj0))+(((-1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.56812)*r00*r02*(px*px*px)))+(((0.19114141719984)*px*pz*r00*r02*(cj0*cj0)))+(((-0.56812)*py*r01*r02*(px*px)))+(((1.70436)*px*r00*r02*(pz*pz)))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((-0.00422699033747728)*cj0*py*r00*r02*sj0))+(((0.386)*cj0*px*(py*py)*(r01*r01)))+(((0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((-1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((-0.07512170859992)*(pz*pz)*(r02*r02)))+(((1.70436)*py*r01*r02*(pz*pz)))+(((0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.000357149629787039)*(r02*r02)))+(((0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.193)*sj0*(py*py*py)*(r01*r01)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((0.01113674999984)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-0.193)*py*sj0*(px*px)*(r01*r01)))+(((-0.193)*cj0*r00*r01*(py*py*py)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((0.193)*cj0*(px*px*px)*(r02*r02)))+(((-0.56812)*pz*(py*py)*(r02*r02)))+(((0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((0.01113674999984)*px*py*r00*r01*(cj0*cj0)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((-0.00158175260252272)*py*r01*r02))+(((0.000280271846855)*cj0*r00*r02))+(((0.06580945860008)*(px*px)*(r02*r02)))+(((0.193)*cj0*(px*px*px)*(r00*r00)))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((1.13624)*pz*(px*px)*(r00*r00)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.579)*cj0*py*r00*r01*(px*px)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.00053734818750772)*cj0*px*(r00*r00)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((-0.01862449999968)*px*py*r00*r01))+(((1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.193)*cj0*py*r00*r01*(pz*pz)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((2.27248)*px*py*pz*r00*r01))+(((-0.00422699033747728)*py*r01*r02*(sj0*sj0)))+(((-0.15024341719984)*px*pz*r00*r02))+(((-0.193)*r00*r01*sj0*(px*px*px)))+(((1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((-0.00158175260252272)*px*r00*r02))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-7.75170003456103e-6)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))); -polyroots4(op,zeror,numroots); -IkReal j1array[4], cj1array[4], sj1array[4], tempj1array[1]; -int numsolutions = 0; -for(int ij1 = 0; ij1 < numroots; ++ij1) -{ -IkReal htj1 = zeror[ij1]; -tempj1array[0]=((2.0)*(atan(htj1))); -for(int kj1 = 0; kj1 < 1; ++kj1) -{ -j1array[numsolutions] = tempj1array[kj1]; -if( j1array[numsolutions] > IKPI ) -{ - j1array[numsolutions]-=IK2PI; -} -else if( j1array[numsolutions] < -IKPI ) -{ - j1array[numsolutions]+=IK2PI; -} -sj1array[numsolutions] = IKsin(j1array[numsolutions]); -cj1array[numsolutions] = IKcos(j1array[numsolutions]); -numsolutions++; -} -} -bool j1valid[4]={true,true,true,true}; -_nj1 = 4; -for(int ij1 = 0; ij1 < numsolutions; ++ij1) - { -if( !j1valid[ij1] ) -{ - continue; -} - j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1]; -htj1 = IKtan(j1/2); - -_ij1[0] = ij1; _ij1[1] = -1; -for(int iij1 = ij1+1; iij1 < numsolutions; ++iij1) -{ -if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH ) -{ - j1valid[iij1]=false; _ij1[1] = iij1; break; -} -} -{ -IkReal j4array[2], cj4array[2], sj4array[2]; -bool j4valid[2]={false}; -_nj4 = 2; -sj4array[0]=(((r00*sj0))+(((-1.0)*cj0*r01))); -if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH ) -{ - j4valid[0] = j4valid[1] = true; - j4array[0] = IKasin(sj4array[0]); - cj4array[0] = IKcos(j4array[0]); - sj4array[1] = sj4array[0]; - j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]); - cj4array[1] = -cj4array[0]; -} -else if( isnan(sj4array[0]) ) -{ - // probably any value will work - j4valid[0] = true; - cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0; -} -for(int ij4 = 0; ij4 < 2; ++ij4) -{ -if( !j4valid[ij4] ) -{ - continue; -} -_ij4[0] = ij4; _ij4[1] = -1; -for(int iij4 = ij4+1; iij4 < 2; ++iij4) -{ -if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH ) -{ - j4valid[iij4]=false; _ij4[1] = iij4; break; -} -} -j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4]; - -{ -IkReal j3eval[2]; -j3eval[0]=cj4; -j3eval[1]=IKsign(cj4); -if( IKabs(j3eval[0]) < 0.0000010000000000 || IKabs(j3eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal evalcond[1]; -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j3array[2], cj3array[2], sj3array[2]; -bool j3valid[2]={false}; -_nj3 = 2; -IkReal x35=(cj0*px); -IkReal x36=((4.75128617069989)*cj1); -IkReal x37=((13.9860139860001)*sj1); -IkReal x38=(py*sj0); -if( (((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))) > 1+IKFAST_SINCOS_THRESH ) - continue; -IkReal x39=IKasin(((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))); -j3array[0]=((-1.5707977349481)+(((-1.0)*x39))); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -j3array[1]=((1.57079491864169)+x39); -sj3array[1]=IKsin(j3array[1]); -cj3array[1]=IKcos(j3array[1]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -if( j3array[1] > IKPI ) -{ - j3array[1]-=IK2PI; -} -else if( j3array[1] < -IKPI ) -{ j3array[1]+=IK2PI; -} -j3valid[1] = true; -for(int ij3 = 0; ij3 < 2; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 2; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[1]; -IkReal x40=py*py; -IkReal x41=pz*pz; -IkReal x42=px*px; -IkReal x43=(px*sj0); -IkReal x44=((2.0)*py); -IkReal x45=(cj0*py); -IkReal x46=((0.0965)*r01); -IkReal x47=(cj0*pz); -IkReal x48=((0.28406)*cj1); -IkReal x49=(py*r00); -IkReal x50=((0.28406)*sj1); -IkReal x51=(r00*sj0); -IkReal x52=(cj0*r01); -IkReal x53=((0.0965)*r02*sj1); -IkReal x54=((1.0)*x52); -evalcond[0]=((-0.02528477090004)+(((0.0965)*pz*sj1*x51))+(((2.86e-8)*(IKsin(j3))))+(((-1.0)*x41*x54))+(((-2.0)*pz*r02*x43))+(((-1.0)*x42*x54))+(((-0.02031029)*(IKcos(j3))))+((cj0*px*r00*x44))+(((-1.0)*x49*x50))+(((-1.0)*x42*x51))+((x45*x53))+((r02*x44*x47))+(((-1.0)*pz*x48*x51))+(((-0.0225005834)*x52))+(((-1.0)*sj1*x46*x47))+(((-1.0)*r02*x45*x48))+((cj1*px*x46))+(((0.0225005834)*x51))+((x40*x52))+((x40*x51))+((px*r01*x50))+((x41*x51))+((r01*x47*x48))+(((-1.0)*r01*x43*x44))+(((-0.0965)*cj1*x49))+(((-1.0)*x43*x53))+((r02*x43*x48))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -sj4=1.0; -cj4=0; -j4=1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x55=((2.0e-7)*pz); -IkReal x56=((0.14203)*sj1); -IkReal x57=(py*sj0); -IkReal x58=(cj1*pz); -IkReal x59=((0.0715)*sj3); -IkReal x60=(cj0*px); -IkReal x61=((2.0e-7)*sj1); -IkReal x62=((0.14203)*cj1); -IkReal x63=((0.0715)*cj3); -IkReal x64=(pz*sj1); -IkReal x65=((2.0e-7)*cj1); -IkReal x66=((0.0715)*sj1*x60); -CheckValue x67=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x67.valid){ -continue; -} -CheckValue x68 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x55))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((x58*x63))+((sj1*x60*x63))+(((-1.0)*x59*x64))+((cj1*x59*x60))+((x56*x60))+((cj1*x57*x59))+(((0.14203)*x58))+((x56*x57))+(((-1.0)*x57*x65))+((sj1*x57*x63))+(((-1.0)*x60*x65)))),IkReal(((0.006852975906)+(((0.003449875)*cj3))+((sj1*x59*x60))+((x58*x59))+(((-1.0)*cj1*x57*x63))+((x63*x64))+((sj1*x57*x59))+((pz*x56))+(((-0.010155145)*sj3))+(((-1.0)*cj1*x60*x63))+(((-1.0)*x57*x62))+(((-1.0)*x57*x61))+(((-1.0)*x60*x61))+(((-1.0)*x60*x62))+(((-1.0)*cj1*x55)))),IKFAST_ATAN2_MAGTHRESH); -if(!x68.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x67.value)))+(x68.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x69=IKsin(j2); -IkReal x70=IKcos(j2); -IkReal x71=(px*sj1); -IkReal x72=(py*sj1); -IkReal x73=(cj1*sj0); -IkReal x74=((1.0)*px); -IkReal x75=(pz*r00); -IkReal x76=((1.0)*r01); -IkReal x77=(cj0*r01); -IkReal x78=(pz*sj1); -IkReal x79=(r00*sj0); -IkReal x80=(cj0*cj1); -IkReal x81=((0.14203)*x69); -IkReal x82=((2.0e-7)*x70); -IkReal x83=((2.0e-7)*x69); -IkReal x84=((0.14203)*x70); -IkReal x85=((0.0715)*x69); -IkReal x86=((0.0715)*x70); -IkReal x87=(sj3*x86); -IkReal x88=(cj3*x85); -IkReal x89=(sj3*x85); -IkReal x90=(cj3*x86); -IkReal x91=(x83+x84+x90); -IkReal x92=(x88+x81+x87); -evalcond[0]=((-0.14203)+((cj0*x71))+((cj1*pz))+x92+((sj0*x72))+(((-1.0)*x82))); -evalcond[1]=((0.04825)+x78+x91+(((-1.0)*x74*x80))+(((-1.0)*x89))+(((-1.0)*py*x73))); -evalcond[2]=((((-1.0)*r02*x73*x74))+(((-1.0)*pz*x76*x80))+x92+(((-1.0)*x71*x76))+(((-0.14203)*x79))+((x73*x75))+((py*r02*x80))+(((-1.0)*x82))+(((0.14203)*x77))+((r00*x72))); -evalcond[3]=((((-1.0)*cj1*r01*x74))+(((-0.04825)*x79))+((cj1*py*r00))+x89+(((-1.0)*sj0*sj1*x75))+((r02*sj0*x71))+(((-1.0)*x91))+(((-1.0)*cj0*r02*x72))+((x77*x78))+(((0.04825)*x77))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j3array[2], cj3array[2], sj3array[2]; -bool j3valid[2]={false}; -_nj3 = 2; -IkReal x93=(cj0*px); -IkReal x94=((4.75128617069989)*cj1); -IkReal x95=((13.9860139860001)*sj1); -IkReal x96=(py*sj0); -if( (((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))) > 1+IKFAST_SINCOS_THRESH ) - continue; -IkReal x97=IKasin(((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))); -j3array[0]=((-1.5707977349481)+(((-1.0)*x97))); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -j3array[1]=((1.57079491864169)+x97); -sj3array[1]=IKsin(j3array[1]); -cj3array[1]=IKcos(j3array[1]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -if( j3array[1] > IKPI ) -{ - j3array[1]-=IK2PI; -} -else if( j3array[1] < -IKPI ) -{ j3array[1]+=IK2PI; -} -j3valid[1] = true; -for(int ij3 = 0; ij3 < 2; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 2; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[1]; -IkReal x98=py*py; -IkReal x99=pz*pz; -IkReal x100=px*px; -IkReal x101=(px*sj0); -IkReal x102=((2.0)*py); -IkReal x103=(cj0*py); -IkReal x104=((0.0965)*r01); -IkReal x105=(cj0*pz); -IkReal x106=((0.28406)*cj1); -IkReal x107=(py*r00); -IkReal x108=((0.28406)*sj1); -IkReal x109=(r00*sj0); -IkReal x110=(cj0*r01); -IkReal x111=((0.0965)*r02*sj1); -IkReal x112=((1.0)*x110); -evalcond[0]=((0.02528477090004)+(((-1.0)*pz*x106*x109))+(((-0.0965)*cj1*x107))+(((-0.0225005834)*x110))+(((0.0965)*pz*sj1*x109))+(((-1.0)*x100*x112))+(((-2.86e-8)*(IKsin(j3))))+(((-1.0)*x101*x111))+(((-1.0)*x107*x108))+((px*r01*x108))+((x103*x111))+(((-1.0)*x112*x99))+(((-1.0)*r01*x101*x102))+((cj1*px*x104))+(((-1.0)*sj1*x104*x105))+((r01*x105*x106))+(((-1.0)*r02*x103*x106))+(((-2.0)*pz*r02*x101))+((cj0*px*r00*x102))+((r02*x101*x106))+((x109*x99))+((x109*x98))+(((-1.0)*x100*x109))+(((0.02031029)*(IKcos(j3))))+((r02*x102*x105))+(((0.0225005834)*x109))+((x110*x98))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -sj4=-1.0; -cj4=0; -j4=-1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x113=((2.0e-7)*pz); -IkReal x114=((0.14203)*sj1); -IkReal x115=(py*sj0); -IkReal x116=(cj1*pz); -IkReal x117=((0.0715)*sj3); -IkReal x118=(cj0*px); -IkReal x119=((2.0e-7)*sj1); -IkReal x120=((0.14203)*cj1); -IkReal x121=((0.0715)*cj3); -IkReal x122=(pz*sj1); -IkReal x123=((2.0e-7)*cj1); -IkReal x124=((0.0715)*sj1*x118); -CheckValue x125=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x125.valid){ -continue; -} -CheckValue x126 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x113))+(((-1.0)*x118*x123))+(((-0.003449875)*sj3))+((x114*x115))+((x114*x118))+(((-0.010155145)*cj3))+(((-1.0)*x115*x123))+((sj1*x118*x121))+(((0.14203)*x116))+(((-1.0)*x117*x122))+((sj1*x115*x121))+((x116*x121))+((cj1*x117*x118))+((cj1*x115*x117)))),IkReal(((0.006852975906)+(((-1.0)*x118*x120))+(((-1.0)*cj1*x113))+((x121*x122))+(((0.003449875)*cj3))+(((-1.0)*x118*x119))+((pz*x114))+(((-1.0)*x115*x120))+(((-1.0)*x115*x119))+(((-1.0)*cj1*x118*x121))+((sj1*x117*x118))+(((-1.0)*cj1*x115*x121))+((sj1*x115*x117))+((x116*x117))+(((-0.010155145)*sj3)))),IKFAST_ATAN2_MAGTHRESH); -if(!x126.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x125.value)))+(x126.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x127=IKsin(j2); -IkReal x128=IKcos(j2); -IkReal x129=(px*sj1); -IkReal x130=(py*sj1); -IkReal x131=(cj1*sj0); -IkReal x132=((1.0)*px); -IkReal x133=(pz*r00); -IkReal x134=((1.0)*r01); -IkReal x135=(cj0*r01); -IkReal x136=(pz*sj1); -IkReal x137=(r00*sj0); -IkReal x138=(cj0*cj1); -IkReal x139=((2.0e-7)*x128); -IkReal x140=((0.14203)*x127); -IkReal x141=((2.0e-7)*x127); -IkReal x142=((0.14203)*x128); -IkReal x143=((0.0715)*x127); -IkReal x144=((0.0715)*x128); -IkReal x145=(sj3*x144); -IkReal x146=(cj3*x143); -IkReal x147=(cj3*x144); -IkReal x148=(sj3*x143); -IkReal x149=(x141+x142+x147); -IkReal x150=(x140+x145+x146); -evalcond[0]=((-0.14203)+((cj0*x129))+x150+((cj1*pz))+(((-1.0)*x139))+((sj0*x130))); -evalcond[1]=((0.04825)+(((-1.0)*x148))+x149+x136+(((-1.0)*x132*x138))+(((-1.0)*py*x131))); -evalcond[2]=((((-1.0)*x150))+(((-1.0)*r02*x131*x132))+((py*r02*x138))+(((0.14203)*x135))+((r00*x130))+x139+((x131*x133))+(((-1.0)*pz*x134*x138))+(((-1.0)*x129*x134))+(((-0.14203)*x137))); -evalcond[3]=((((-1.0)*x148))+((x135*x136))+(((-0.04825)*x137))+((cj1*py*r00))+x149+((r02*sj0*x129))+(((-1.0)*cj1*r01*x132))+(((-1.0)*cj0*r02*x130))+(((0.04825)*x135))+(((-1.0)*sj0*sj1*x133))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -if( 1 ) -{ -bgotonextstatement=false; -continue; // branch miss [j2, j3] - -} -} while(0); -if( bgotonextstatement ) -{ -} -} -} -} - -} else -{ -{ -IkReal j3array[1], cj3array[1], sj3array[1]; -bool j3valid[1]={false}; -_nj3 = 1; -IkReal x151=(r01*sj0); -IkReal x152=((171324397650.0)*sj1); -IkReal x153=((504312781250.0)*cj1); -IkReal x154=((171324397650.0)*cj1); -IkReal x155=(cj0*r00); -IkReal x156=((3550750000000.0)*r02); -IkReal x157=(py*sj0); -IkReal x158=(py*r01); -IkReal x159=((504312781250.0)*sj1); -IkReal x160=(px*r00); -IkReal x161=((5000000.0)*pz); -IkReal x162=(cj0*px); -IkReal x163=((3550750000000.0)*pz); -IkReal x164=((5000000.0)*r02); -CheckValue x165=IKPowWithIntegerCheck(IKsign(cj4),-1); -if(!x165.valid){ -continue; -} -CheckValue x166 = IKatan2WithCheck(IkReal(((((-1.0)*x153*x155))+(((-1.0)*r02*x161))+((x151*x163))+(((-1.0)*x151*x153))+((x152*x155))+(((357500.0)*cj4))+(((-5000000.0)*x160))+((x151*x152))+(((-5000000.0)*x158))+((x155*x163))+(((-1.0)*x156*x157))+((r02*x154))+((r02*x159))+(((-1.0)*x156*x162)))),IkReal(((((-1.0)*x157*x164))+(((-1.0)*x154*x155))+(((3550750000000.0)*x160))+((x151*x161))+(((-1.0)*x151*x159))+(((-1.0)*x151*x154))+(((-253878625000.0)*cj4))+(((3550750000000.0)*x158))+(((-1.0)*r02*x153))+(((-1.0)*x162*x164))+((x155*x161))+(((-1.0)*x155*x159))+((r02*x152))+((pz*x156)))),IKFAST_ATAN2_MAGTHRESH); -if(!x166.valid){ -continue; -} -j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x165.value)))+(x166.value)); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -for(int ij3 = 0; ij3 < 1; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 1; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[4]; -IkReal x167=IKcos(j3); -IkReal x168=IKsin(j3); -IkReal x169=pz*pz; -IkReal x170=py*py; -IkReal x171=px*px; -IkReal x172=(r01*sj0); -IkReal x173=(cj0*px); -IkReal x174=((0.28406)*sj1); -IkReal x175=((0.14203)*sj1); -IkReal x176=((1.0)*r02); -IkReal x177=((0.0965)*sj1); -IkReal x178=(py*sj0); -IkReal x179=((0.0965)*cj1); -IkReal x180=(cj0*r00); -IkReal x181=(cj1*r02); -IkReal x182=(cj0*py); -IkReal x183=((0.28406)*cj1); -IkReal x184=(py*r00); -IkReal x185=(r00*sj0); -IkReal x186=((0.04825)*sj1); -IkReal x187=((0.04825)*cj1); -IkReal x188=(px*sj0); -IkReal x189=(cj0*r01); -IkReal x190=(px*r01); -IkReal x191=((0.14203)*cj1); -IkReal x192=((2.0)*px*py); -IkReal x193=((2.86e-8)*x168); -IkReal x194=(pz*x189); -IkReal x195=((0.02031029)*x167); -IkReal x196=(cj4*x168); -IkReal x197=((2.0)*pz*r02); -IkReal x198=((1.0)*x171); -IkReal x199=(cj4*x167); -IkReal x200=((1.0)*x169); -evalcond[0]=((0.00278418750004)+((pz*x183))+((x178*x179))+(((-1.0)*x193))+(((-1.0)*x198))+(((-1.0)*pz*x177))+((x173*x174))+((x173*x179))+(((-1.0)*x170))+x195+(((-1.0)*x200))+((x174*x178))); -evalcond[1]=(((x180*x187))+((x172*x187))+(((-1.0)*px*r00))+(((0.14203)*x181))+(((-1.0)*pz*x176))+((x172*x175))+(((-1.0)*r02*x186))+(((0.14203)*x199))+((x175*x180))+(((-2.0e-7)*x196))+(((0.0715)*cj4))+(((-1.0)*py*r01))); -evalcond[2]=(((pz*x172))+((pz*x180))+((x180*x186))+((x172*x186))+(((-1.0)*x180*x191))+(((-0.14203)*x196))+(((-2.0e-7)*x199))+(((0.04825)*x181))+(((-1.0)*x176*x178))+(((-1.0)*x172*x191))+(((-1.0)*x173*x176))+((r02*x175))); -evalcond[3]=((((-1.0)*pz*x183*x185))+(((0.28406)*x181*x188))+((x169*x185))+(((-1.0)*x188*x197))+(((-1.0)*x189*x200))+((r02*x177*x182))+((x179*x190))+(((-1.0)*x189*x198))+(((2.0)*x173*x184))+(((-0.28406)*x181*x182))+((x174*x190))+(((-1.0)*r02*x177*x188))+((sj4*x193))+(((-1.0)*x177*x194))+(((0.0225005834)*x185))+(((-1.0)*x185*x198))+(((-0.0225005834)*x189))+(((-1.0)*x172*x192))+((x170*x189))+((x170*x185))+(((-1.0)*x179*x184))+((x182*x197))+((pz*x177*x185))+(((-1.0)*sj4*x195))+(((-1.0)*x174*x184))+((x183*x194))+(((-0.02528477090004)*sj4))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -j2eval[0]=cj4; -j2eval[1]=IKsign(cj4); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal j2eval[2]; -IkReal x201=(cj4*sj3); -IkReal x202=(cj3*cj4); -j2eval[0]=((((-1.0)*x202))+(((-710150.0)*x201))); -j2eval[1]=IKsign(((((-0.14203)*x201))+(((-2.0e-7)*x202)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal j2eval[2]; -IkReal x203=(cj3*cj4); -IkReal x204=(cj4*sj3); -j2eval[0]=((((357500.0)*cj4))+(((710150.0)*x203))+(((-1.0)*x204))); -j2eval[1]=IKsign(((((0.0715)*cj4))+(((-2.0e-7)*x204))+(((0.14203)*x203)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal evalcond[1]; -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j2eval[2]; -sj4=1.0; -cj4=0; -j4=1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x205=((2.0e-7)*pz); -IkReal x206=((0.14203)*sj1); -IkReal x207=(py*sj0); -IkReal x208=(cj1*pz); -IkReal x209=((0.0715)*sj3); -IkReal x210=(cj0*px); -IkReal x211=((2.0e-7)*sj1); -IkReal x212=((0.14203)*cj1); -IkReal x213=((0.0715)*cj3); -IkReal x214=(pz*sj1); -IkReal x215=((2.0e-7)*cj1); -IkReal x216=((0.0715)*sj1*x210); -CheckValue x217=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x217.valid){ -continue; -} -CheckValue x218 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x205))+((x206*x210))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((sj1*x207*x213))+((x208*x213))+(((-1.0)*x207*x215))+(((-1.0)*x210*x215))+((cj1*x209*x210))+((sj1*x210*x213))+((cj1*x207*x209))+(((-1.0)*x209*x214))+((x206*x207))+(((0.14203)*x208)))),IkReal(((0.006852975906)+(((-1.0)*cj1*x205))+(((-1.0)*cj1*x207*x213))+(((0.003449875)*cj3))+((x213*x214))+(((-1.0)*x207*x211))+(((-1.0)*x207*x212))+(((-1.0)*cj1*x210*x213))+((pz*x206))+(((-1.0)*x210*x211))+(((-1.0)*x210*x212))+((sj1*x209*x210))+(((-0.010155145)*sj3))+((x208*x209))+((sj1*x207*x209)))),IKFAST_ATAN2_MAGTHRESH); -if(!x218.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x217.value)))+(x218.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x219=IKsin(j2); -IkReal x220=IKcos(j2); -IkReal x221=(px*sj1); -IkReal x222=(py*sj1); -IkReal x223=(cj1*sj0); -IkReal x224=((1.0)*px); -IkReal x225=(pz*r00); -IkReal x226=((1.0)*r01); -IkReal x227=(cj0*r01); -IkReal x228=(pz*sj1); -IkReal x229=(r00*sj0); -IkReal x230=(cj0*cj1); -IkReal x231=((0.14203)*x219); -IkReal x232=((2.0e-7)*x220); -IkReal x233=((2.0e-7)*x219); -IkReal x234=((0.14203)*x220); -IkReal x235=((0.0715)*x219); -IkReal x236=((0.0715)*x220); -IkReal x237=(sj3*x236); -IkReal x238=(cj3*x235); -IkReal x239=(sj3*x235); -IkReal x240=(cj3*x236); -IkReal x241=(x233+x234+x240); -IkReal x242=(x238+x231+x237); -evalcond[0]=((-0.14203)+((sj0*x222))+((cj1*pz))+(((-1.0)*x232))+((cj0*x221))+x242); -evalcond[1]=((0.04825)+(((-1.0)*x224*x230))+(((-1.0)*x239))+x228+x241+(((-1.0)*py*x223))); -evalcond[2]=((((-0.14203)*x229))+((r00*x222))+((x223*x225))+(((-1.0)*x232))+x242+(((0.14203)*x227))+(((-1.0)*r02*x223*x224))+(((-1.0)*x221*x226))+(((-1.0)*pz*x226*x230))+((py*r02*x230))); -evalcond[3]=((((0.04825)*x227))+((x227*x228))+(((-1.0)*cj1*r01*x224))+((cj1*py*r00))+x239+((r02*sj0*x221))+(((-1.0)*sj0*sj1*x225))+(((-1.0)*x241))+(((-1.0)*cj0*r02*x222))+(((-0.04825)*x229))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j2eval[2]; -sj4=-1.0; -cj4=0; -j4=-1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x243=((2.0e-7)*pz); -IkReal x244=((0.14203)*sj1); -IkReal x245=(py*sj0); -IkReal x246=(cj1*pz); -IkReal x247=((0.0715)*sj3); -IkReal x248=(cj0*px); -IkReal x249=((2.0e-7)*sj1); -IkReal x250=((0.14203)*cj1); -IkReal x251=((0.0715)*cj3); -IkReal x252=(pz*sj1); -IkReal x253=((2.0e-7)*cj1); -IkReal x254=((0.0715)*sj1*x248); -CheckValue x255=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x255.valid){ -continue; -} -CheckValue x256 = IKatan2WithCheck(IkReal(((-0.02017251125)+((x246*x251))+((cj1*x245*x247))+((cj1*x247*x248))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((x244*x245))+((x244*x248))+(((-1.0)*x247*x252))+(((-1.0)*x248*x253))+(((-1.0)*x245*x253))+((sj1*x248*x251))+((sj1*x245*x251))+(((0.14203)*x246))+((sj1*x243)))),IkReal(((0.006852975906)+(((-1.0)*x248*x249))+(((0.003449875)*cj3))+(((-1.0)*cj1*x245*x251))+(((-1.0)*cj1*x243))+((x251*x252))+((sj1*x247*x248))+(((-1.0)*x248*x250))+(((-1.0)*x245*x250))+((sj1*x245*x247))+(((-1.0)*x245*x249))+(((-1.0)*cj1*x248*x251))+(((-0.010155145)*sj3))+((pz*x244))+((x246*x247)))),IKFAST_ATAN2_MAGTHRESH); -if(!x256.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x255.value)))+(x256.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x257=IKsin(j2); -IkReal x258=IKcos(j2); -IkReal x259=(px*sj1); -IkReal x260=(py*sj1); -IkReal x261=(cj1*sj0); -IkReal x262=((1.0)*px); -IkReal x263=(pz*r00); -IkReal x264=((1.0)*r01); -IkReal x265=(cj0*r01); -IkReal x266=(pz*sj1); -IkReal x267=(r00*sj0); -IkReal x268=(cj0*cj1); -IkReal x269=((2.0e-7)*x258); -IkReal x270=((0.14203)*x257); -IkReal x271=((2.0e-7)*x257); -IkReal x272=((0.14203)*x258); -IkReal x273=((0.0715)*x257); -IkReal x274=((0.0715)*x258); -IkReal x275=(sj3*x274); -IkReal x276=(cj3*x273); -IkReal x277=(cj3*x274); -IkReal x278=(sj3*x273); -IkReal x279=(x277+x272+x271); -IkReal x280=(x276+x275+x270); -evalcond[0]=((-0.14203)+((cj1*pz))+x280+((cj0*x259))+(((-1.0)*x269))+((sj0*x260))); -evalcond[1]=((0.04825)+(((-1.0)*x262*x268))+(((-1.0)*py*x261))+x266+x279+(((-1.0)*x278))); -evalcond[2]=((((-1.0)*r02*x261*x262))+(((-1.0)*x259*x264))+(((-1.0)*pz*x264*x268))+x269+((py*r02*x268))+(((-0.14203)*x267))+((r00*x260))+(((-1.0)*x280))+((x261*x263))+(((0.14203)*x265))); -evalcond[3]=((((-1.0)*sj0*sj1*x263))+(((-0.04825)*x267))+((cj1*py*r00))+x279+(((-1.0)*cj1*r01*x262))+(((0.04825)*x265))+(((-1.0)*cj0*r02*x260))+((r02*sj0*x259))+(((-1.0)*x278))+((x265*x266))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -if( 1 ) -{ -bgotonextstatement=false; -continue; // branch miss [j2] - -} -} while(0); -if( bgotonextstatement ) -{ -} -} -} -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x281=((0.04825)*cj4); -IkReal x282=((0.0715)*cj3); -IkReal x283=((0.0715)*sj3); -IkReal x284=(cj1*r02); -IkReal x285=(cj4*sj3); -IkReal x286=(cj3*cj4); -IkReal x287=(pz*sj1); -IkReal x288=(r01*sj0*sj1); -IkReal x289=(cj0*r00*sj1); -IkReal x290=(cj0*cj1*px); -IkReal x291=(cj1*py*sj0); -CheckValue x292 = IKatan2WithCheck(IkReal((((x285*x287))+((sj3*x281))+(((-1.0)*x282*x284))+(((-1.0)*x282*x288))+(((-1.0)*x282*x289))+(((-0.14203)*x289))+(((-0.14203)*x288))+(((-0.14203)*x284))+(((-1.0)*x285*x290))+(((-1.0)*x285*x291)))),IkReal(((((-1.0)*cj3*x281))+((x286*x290))+((x286*x291))+(((2.0e-7)*x288))+(((2.0e-7)*x289))+(((2.0e-7)*x284))+(((-1.0)*x286*x287))+(((-1.0)*x283*x284))+(((-1.0)*x283*x288))+(((-1.0)*x283*x289)))),IKFAST_ATAN2_MAGTHRESH); -if(!x292.valid){ -continue; -} -CheckValue x293=IKPowWithIntegerCheck(IKsign(((((-2.0e-7)*x285))+(((0.0715)*cj4))+(((0.14203)*x286)))),-1); -if(!x293.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(x292.value)+(((1.5707963267949)*(x293.value)))); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x294=IKcos(j2); -IkReal x295=IKsin(j2); -IkReal x296=py*py; -IkReal x297=px*px; -IkReal x298=pz*pz; -IkReal x299=(r01*sj0); -IkReal x300=(py*sj1); -IkReal x301=((1.0)*cj1); -IkReal x302=((0.0715)*sj4); -IkReal x303=((5.6812e-8)*cj4); -IkReal x304=((1.0)*sj1); -IkReal x305=(cj0*r00); -IkReal x306=((0.02528477089996)*cj4); -IkReal x307=(py*sj0); -IkReal x308=((0.0965)*r02); -IkReal x309=((2.0)*pz); -IkReal x310=(cj0*sj1); -IkReal x311=(pz*r01); -IkReal x312=(px*r01); -IkReal x313=((0.28406)*r02); -IkReal x314=(cj1*r02); -IkReal x315=((0.01506027089996)*sj3); -IkReal x316=(cj0*py); -IkReal x317=(r02*sj1); -IkReal x318=(px*sj0); -IkReal x319=((0.0178444584)*sj1); -IkReal x320=((0.013705895)*sj1); -IkReal x321=(cj1*py); -IkReal x322=((0.0965)*pz); -IkReal x323=((0.013705895)*cj1); -IkReal x324=((0.0178444584)*cj1); -IkReal x325=(px*r00); -IkReal x326=(py*r01); -IkReal x327=(r00*sj0); -IkReal x328=((0.28406)*pz); -IkReal x329=(cj0*r01); -IkReal x330=(cj3*x295); -IkReal x331=(cj0*px*r02); -IkReal x332=(pz*x327); -IkReal x333=(cj3*x294); -IkReal x334=((0.14203)*x295); -IkReal x335=(cj4*x294); -IkReal x336=(cj1*x325); -IkReal x337=((2.0e-7)*x295); -IkReal x338=(sj3*x294); -IkReal x339=((2.0e-7)*x294); -IkReal x340=(sj3*x295); -IkReal x341=(cj4*x295); -IkReal x342=(sj1*x298); -IkReal x343=((0.14203)*x294); -IkReal x344=(r02*x298); -evalcond[0]=(((sj3*x335))+((sj1*x299))+x314+((cj4*x330))+((sj1*x305))); -evalcond[1]=((((-1.0)*x301*x305))+x317+(((-1.0)*x299*x301))+((cj4*x333))+(((-1.0)*cj4*x340))); -evalcond[2]=((-0.14203)+(((0.0715)*x338))+(((0.0715)*x330))+((cj1*pz))+x334+(((-1.0)*x339))+((px*x310))+((sj0*x300))); -evalcond[3]=((0.04825)+(((-1.0)*x301*x307))+(((0.0715)*x333))+(((-1.0)*cj0*px*x301))+x337+x343+(((-0.0715)*x340))+((pz*sj1))); -evalcond[4]=((((-1.0)*r02*x301*x318))+(((-1.0)*sj4*x339))+(((-1.0)*cj0*x301*x311))+((cj1*x332))+((x302*x330))+((x302*x338))+((sj4*x334))+(((-1.0)*x304*x312))+(((-0.14203)*x327))+((x314*x316))+((r00*x300))+(((0.14203)*x329))); -evalcond[5]=(((x317*x318))+((x310*x311))+(((-1.0)*sj4*x337))+(((-0.04825)*x327))+((r00*x321))+((x302*x340))+(((-1.0)*x302*x333))+(((-1.0)*cj0*r02*x300))+(((-1.0)*x304*x332))+(((-1.0)*sj4*x343))+(((-1.0)*x301*x312))+(((0.04825)*x329))); -evalcond[6]=((((-2.86e-8)*x341))+(((-1.0)*x299*x324))+((x297*x317))+(((0.013705895)*x314))+((x296*x317))+(((-1.0)*x298*x299*x301))+((x305*x320))+((x305*x328))+(((-1.0)*x315*x341))+(((2.0)*cj1*x312*x316))+(((-1.0)*x303*x330))+((x303*x338))+((x307*x309*x314))+(((-0.02031029)*x335))+((cj1*x296*x299))+(((-0.0965)*x326))+(((-0.0965)*x325))+(((-1.0)*x304*x344))+(((2.0)*x307*x336))+(((-1.0)*pz*x308))+((cj1*x297*x305))+(((-1.0)*x306*x333))+(((-1.0)*r01*x300*x309))+(((-1.0)*x296*x301*x305))+(((-1.0)*x298*x301*x305))+(((0.0178444584)*x317))+(((-1.0)*x307*x313))+((x299*x328))+((x299*x320))+(((-1.0)*cj0*px*x313))+(((-1.0)*x297*x299*x301))+((cj0*px*x309*x314))+(((-1.0)*sj1*x309*x325))+(((-1.0)*x305*x324))); -evalcond[7]=((((-1.0)*x296*x299*x304))+(((-2.0)*r00*x300*x318))+(((-1.0)*x299*x323))+((x297*x314))+(((-0.0178444584)*x314))+(((0.013705895)*x317))+(((-1.0)*r02*sj0*x300*x309))+((x296*x314))+((x305*x322))+(((-1.0)*px*r02*x309*x310))+(((-1.0)*x301*x344))+(((2.86e-8)*x335))+(((-1.0)*r01*x309*x321))+((x305*x342))+((sj1*x297*x299))+(((-1.0)*cj0*px*x308))+((x299*x342))+((x303*x333))+(((-1.0)*x305*x319))+((sj1*x296*x305))+(((-1.0)*x299*x319))+((x315*x335))+(((-1.0)*x306*x330))+((pz*x313))+(((-0.02031029)*x341))+(((-1.0)*x307*x308))+((x299*x322))+((x303*x340))+(((-1.0)*x309*x336))+(((-1.0)*x305*x323))+(((-2.0)*cj0*x300*x312))+(((0.28406)*x325))+(((0.28406)*x326))+(((-1.0)*x297*x304*x305))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x345=((0.0715)*cj3); -IkReal x346=((0.0715)*sj3); -IkReal x347=(cj0*sj1); -IkReal x348=(cj1*r02); -IkReal x349=(cj4*sj3); -IkReal x350=(cj1*pz); -IkReal x351=(cj3*cj4); -IkReal x352=((0.14203)*x349); -IkReal x353=(r01*sj0*sj1); -IkReal x354=((1.0)*x351); -IkReal x355=(py*sj0*sj1); -CheckValue x356=IKPowWithIntegerCheck(IKsign(((((-2.0e-7)*x351))+(((-1.0)*x352)))),-1); -if(!x356.valid){ -continue; -} -CheckValue x357 = IKatan2WithCheck(IkReal(((((2.0e-7)*r00*x347))+(((-1.0)*x352))+(((-1.0)*x346*x353))+(((-1.0)*r00*x346*x347))+((x349*x350))+((x349*x355))+(((-1.0)*x346*x348))+((px*x347*x349))+(((2.0e-7)*x348))+(((2.0e-7)*x353)))),IkReal((((r00*x345*x347))+((x345*x353))+((x345*x348))+(((-1.0)*px*x347*x354))+(((0.14203)*r00*x347))+(((-1.0)*x354*x355))+(((0.14203)*x348))+(((0.14203)*x353))+(((0.14203)*x351))+(((-1.0)*x350*x354)))),IKFAST_ATAN2_MAGTHRESH); -if(!x357.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x356.value)))+(x357.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x358=IKcos(j2); -IkReal x359=IKsin(j2); -IkReal x360=py*py; -IkReal x361=px*px; -IkReal x362=pz*pz; -IkReal x363=(r01*sj0); -IkReal x364=(py*sj1); -IkReal x365=((1.0)*cj1); -IkReal x366=((0.0715)*sj4); -IkReal x367=((5.6812e-8)*cj4); -IkReal x368=((1.0)*sj1); -IkReal x369=(cj0*r00); -IkReal x370=((0.02528477089996)*cj4); -IkReal x371=(py*sj0); -IkReal x372=((0.0965)*r02); -IkReal x373=((2.0)*pz); -IkReal x374=(cj0*sj1); -IkReal x375=(pz*r01); -IkReal x376=(px*r01); -IkReal x377=((0.28406)*r02); -IkReal x378=(cj1*r02); -IkReal x379=((0.01506027089996)*sj3); -IkReal x380=(cj0*py); -IkReal x381=(r02*sj1); -IkReal x382=(px*sj0); -IkReal x383=((0.0178444584)*sj1); -IkReal x384=((0.013705895)*sj1); -IkReal x385=(cj1*py); -IkReal x386=((0.0965)*pz); -IkReal x387=((0.013705895)*cj1); -IkReal x388=((0.0178444584)*cj1); -IkReal x389=(px*r00); -IkReal x390=(py*r01); -IkReal x391=(r00*sj0); -IkReal x392=((0.28406)*pz); -IkReal x393=(cj0*r01); -IkReal x394=(cj3*x359); -IkReal x395=(cj0*px*r02); -IkReal x396=(pz*x391); -IkReal x397=(cj3*x358); -IkReal x398=((0.14203)*x359); -IkReal x399=(cj4*x358); -IkReal x400=(cj1*x389); -IkReal x401=((2.0e-7)*x359); -IkReal x402=(sj3*x358); -IkReal x403=((2.0e-7)*x358); -IkReal x404=(sj3*x359); -IkReal x405=(cj4*x359); -IkReal x406=(sj1*x362); -IkReal x407=((0.14203)*x358); -IkReal x408=(r02*x362); -evalcond[0]=(((sj1*x363))+((sj1*x369))+((cj4*x394))+x378+((sj3*x399))); -evalcond[1]=((((-1.0)*x363*x365))+((cj4*x397))+x381+(((-1.0)*cj4*x404))+(((-1.0)*x365*x369))); -evalcond[2]=((-0.14203)+(((0.0715)*x402))+((sj0*x364))+((cj1*pz))+((px*x374))+x398+(((0.0715)*x394))+(((-1.0)*x403))); -evalcond[3]=((0.04825)+(((-0.0715)*x404))+(((-1.0)*cj0*px*x365))+x401+x407+((pz*sj1))+(((0.0715)*x397))+(((-1.0)*x365*x371))); -evalcond[4]=(((x378*x380))+(((-1.0)*x368*x376))+(((-1.0)*cj0*x365*x375))+((r00*x364))+((x366*x394))+(((-1.0)*sj4*x403))+((x366*x402))+(((0.14203)*x393))+(((-0.14203)*x391))+(((-1.0)*r02*x365*x382))+((cj1*x396))+((sj4*x398))); -evalcond[5]=((((-1.0)*x368*x396))+(((0.04825)*x393))+(((-1.0)*sj4*x407))+(((-1.0)*sj4*x401))+(((-1.0)*x366*x397))+((x366*x404))+(((-1.0)*cj0*r02*x364))+((x374*x375))+((r00*x385))+((x381*x382))+(((-0.04825)*x391))+(((-1.0)*x365*x376))); -evalcond[6]=((((-0.0965)*x390))+((cj0*px*x373*x378))+(((-1.0)*x368*x408))+(((-1.0)*x369*x388))+(((-1.0)*cj0*px*x377))+(((-2.86e-8)*x405))+((x361*x381))+(((-1.0)*x370*x397))+((x369*x392))+((x363*x384))+(((-1.0)*x379*x405))+(((2.0)*cj1*x376*x380))+((x360*x381))+(((0.0178444584)*x381))+(((0.013705895)*x378))+((x367*x402))+(((-0.0965)*x389))+(((-1.0)*x362*x363*x365))+(((2.0)*x371*x400))+(((-1.0)*x361*x363*x365))+(((-1.0)*sj1*x373*x389))+(((-1.0)*x363*x388))+(((-1.0)*x371*x377))+(((-1.0)*x367*x394))+(((-1.0)*pz*x372))+(((-1.0)*x362*x365*x369))+((x363*x392))+((x371*x373*x378))+((x369*x384))+(((-1.0)*r01*x364*x373))+(((-1.0)*x360*x365*x369))+((cj1*x360*x363))+(((-0.02031029)*x399))+((cj1*x361*x369))); -evalcond[7]=((((-1.0)*x373*x400))+((x367*x397))+((x379*x399))+(((0.013705895)*x381))+(((-1.0)*r01*x373*x385))+(((-1.0)*x369*x383))+(((-1.0)*x369*x387))+(((-1.0)*cj0*px*x372))+((x363*x406))+(((-1.0)*x370*x394))+(((-1.0)*x365*x408))+(((-0.0178444584)*x378))+((x363*x386))+(((-2.0)*cj0*x364*x376))+(((-1.0)*r02*sj0*x364*x373))+((x367*x404))+(((0.28406)*x389))+(((-0.02031029)*x405))+(((-1.0)*px*r02*x373*x374))+((pz*x377))+(((-1.0)*x361*x368*x369))+(((-2.0)*r00*x364*x382))+(((-1.0)*x363*x383))+(((-1.0)*x363*x387))+(((-1.0)*x371*x372))+(((-1.0)*x360*x363*x368))+((sj1*x361*x363))+((x369*x406))+((x360*x378))+((sj1*x360*x369))+(((2.86e-8)*x399))+((x369*x386))+(((0.28406)*x390))+((x361*x378))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x409=((1.0)*sj1); -IkReal x410=((1.0)*sj3); -IkReal x411=(cj3*r02); -IkReal x412=(r01*sj0); -IkReal x413=(cj0*r00); -IkReal x414=(cj3*x412); -IkReal x415=(cj1*x413); -CheckValue x416 = IKatan2WithCheck(IkReal(((((-1.0)*cj3*x409*x413))+(((-1.0)*cj1*x411))+(((-1.0)*cj1*x410*x412))+(((-1.0)*x410*x415))+((r02*sj1*sj3))+(((-1.0)*x409*x414)))),IkReal(((((-1.0)*sj3*x409*x412))+(((-1.0)*sj3*x409*x413))+(((-1.0)*cj1*r02*x410))+((cj1*x414))+((cj3*x415))+(((-1.0)*x409*x411)))),IKFAST_ATAN2_MAGTHRESH); -if(!x416.valid){ -continue; -} -CheckValue x417=IKPowWithIntegerCheck(IKsign(cj4),-1); -if(!x417.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(x416.value)+(((1.5707963267949)*(x417.value)))); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x418=IKcos(j2); -IkReal x419=IKsin(j2); -IkReal x420=py*py; -IkReal x421=px*px; -IkReal x422=pz*pz; -IkReal x423=(r01*sj0); -IkReal x424=(py*sj1); -IkReal x425=((1.0)*cj1); -IkReal x426=((0.0715)*sj4); -IkReal x427=((5.6812e-8)*cj4); -IkReal x428=((1.0)*sj1); -IkReal x429=(cj0*r00); -IkReal x430=((0.02528477089996)*cj4); -IkReal x431=(py*sj0); -IkReal x432=((0.0965)*r02); -IkReal x433=((2.0)*pz); -IkReal x434=(cj0*sj1); -IkReal x435=(pz*r01); -IkReal x436=(px*r01); -IkReal x437=((0.28406)*r02); -IkReal x438=(cj1*r02); -IkReal x439=((0.01506027089996)*sj3); -IkReal x440=(cj0*py); -IkReal x441=(r02*sj1); -IkReal x442=(px*sj0); -IkReal x443=((0.0178444584)*sj1); -IkReal x444=((0.013705895)*sj1); -IkReal x445=(cj1*py); -IkReal x446=((0.0965)*pz); -IkReal x447=((0.013705895)*cj1); -IkReal x448=((0.0178444584)*cj1); -IkReal x449=(px*r00); -IkReal x450=(py*r01); -IkReal x451=(r00*sj0); -IkReal x452=((0.28406)*pz); -IkReal x453=(cj0*r01); -IkReal x454=(cj3*x419); -IkReal x455=(cj0*px*r02); -IkReal x456=(pz*x451); -IkReal x457=(cj3*x418); -IkReal x458=((0.14203)*x419); -IkReal x459=(cj4*x418); -IkReal x460=(cj1*x449); -IkReal x461=((2.0e-7)*x419); -IkReal x462=(sj3*x418); -IkReal x463=((2.0e-7)*x418); -IkReal x464=(sj3*x419); -IkReal x465=(cj4*x419); -IkReal x466=(sj1*x422); -IkReal x467=((0.14203)*x418); -IkReal x468=(r02*x422); -evalcond[0]=(((sj3*x459))+((cj4*x454))+x438+((sj1*x423))+((sj1*x429))); -evalcond[1]=(((cj4*x457))+(((-1.0)*cj4*x464))+x441+(((-1.0)*x425*x429))+(((-1.0)*x423*x425))); -evalcond[2]=((-0.14203)+((px*x434))+(((-1.0)*x463))+((cj1*pz))+x458+(((0.0715)*x454))+(((0.0715)*x462))+((sj0*x424))); -evalcond[3]=((0.04825)+(((-0.0715)*x464))+x461+x467+(((-1.0)*x425*x431))+((pz*sj1))+(((-1.0)*cj0*px*x425))+(((0.0715)*x457))); -evalcond[4]=((((-1.0)*sj4*x463))+((cj1*x456))+((x426*x454))+((x426*x462))+(((0.14203)*x453))+(((-1.0)*cj0*x425*x435))+((sj4*x458))+((r00*x424))+(((-1.0)*r02*x425*x442))+((x438*x440))+(((-1.0)*x428*x436))+(((-0.14203)*x451))); -evalcond[5]=((((-0.04825)*x451))+(((-1.0)*cj0*r02*x424))+(((-1.0)*sj4*x467))+(((-1.0)*sj4*x461))+((x434*x435))+(((0.04825)*x453))+(((-1.0)*x428*x456))+((x426*x464))+((x441*x442))+((r00*x445))+(((-1.0)*x425*x436))+(((-1.0)*x426*x457))); -evalcond[6]=(((x423*x452))+((x421*x441))+(((2.0)*cj1*x436*x440))+((x431*x433*x438))+(((-1.0)*x431*x437))+(((-1.0)*x439*x465))+(((-1.0)*x422*x423*x425))+(((-1.0)*r01*x424*x433))+(((-0.02031029)*x459))+(((-1.0)*x420*x425*x429))+(((0.013705895)*x438))+(((-1.0)*x429*x448))+((x429*x452))+(((-1.0)*x428*x468))+(((-0.0965)*x450))+(((-0.0965)*x449))+(((-1.0)*x421*x423*x425))+(((-1.0)*x422*x425*x429))+((cj0*px*x433*x438))+((x423*x444))+(((-1.0)*pz*x432))+(((0.0178444584)*x441))+((x427*x462))+((cj1*x420*x423))+(((-1.0)*x430*x457))+(((-1.0)*x423*x448))+((cj1*x421*x429))+(((-1.0)*sj1*x433*x449))+(((-2.86e-8)*x465))+((x429*x444))+(((2.0)*x431*x460))+(((-1.0)*x427*x454))+((x420*x441))+(((-1.0)*cj0*px*x437))); -evalcond[7]=((((-1.0)*r01*x433*x445))+((sj1*x420*x429))+((x421*x438))+((x423*x466))+(((-1.0)*px*r02*x433*x434))+((sj1*x421*x423))+(((-2.0)*r00*x424*x442))+(((-1.0)*x431*x432))+(((-2.0)*cj0*x424*x436))+(((0.28406)*x450))+(((-0.0178444584)*x438))+((pz*x437))+(((-0.02031029)*x465))+((x429*x466))+(((-1.0)*x429*x447))+(((-1.0)*x429*x443))+(((0.013705895)*x441))+(((-1.0)*x421*x428*x429))+(((-1.0)*x433*x460))+((x423*x446))+(((2.86e-8)*x459))+(((0.28406)*x449))+(((-1.0)*x420*x423*x428))+((x427*x464))+((x427*x457))+((x439*x459))+(((-1.0)*x425*x468))+(((-1.0)*x430*x454))+(((-1.0)*x423*x447))+(((-1.0)*x423*x443))+((x420*x438))+(((-1.0)*r02*sj0*x424*x433))+((x429*x446))+(((-1.0)*cj0*px*x432))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} - -} -} -} - } -} -} - -} - -} -} -return solutions.GetNumSolutions()>0; -} -static inline void polyroots3(IkReal rawcoeffs[3+1], IkReal rawroots[3], int& numroots) -{ - using std::complex; - if( rawcoeffs[0] == 0 ) { - // solve with one reduced degree - polyroots2(&rawcoeffs[1], &rawroots[0], numroots); - return; - } - IKFAST_ASSERT(rawcoeffs[0] != 0); - const IkReal tol = 128.0*std::numeric_limits::epsilon(); - const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); - complex coeffs[3]; - const int maxsteps = 110; - for(int i = 0; i < 3; ++i) { - coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); - } - complex roots[3]; - IkReal err[3]; - roots[0] = complex(1,0); - roots[1] = complex(0.4,0.9); // any complex number not a root of unity works - err[0] = 1.0; - err[1] = 1.0; - for(int i = 2; i < 3; ++i) { - roots[i] = roots[i-1]*roots[1]; - err[i] = 1.0; - } - for(int step = 0; step < maxsteps; ++step) { - bool changed = false; - for(int i = 0; i < 3; ++i) { - if ( err[i] >= tol ) { - changed = true; - // evaluate - complex x = roots[i] + coeffs[0]; - for(int j = 1; j < 3; ++j) { - x = roots[i] * x + coeffs[j]; - } - for(int j = 0; j < 3; ++j) { - if( i != j ) { - if( roots[i] != roots[j] ) { - x /= (roots[i] - roots[j]); - } - } - } - roots[i] -= x; - err[i] = abs(x); - } - } - if( !changed ) { - break; - } - } - - numroots = 0; - bool visited[3] = {false}; - for(int i = 0; i < 3; ++i) { - if( !visited[i] ) { - // might be a multiple root, in which case it will have more error than the other roots - // find any neighboring roots, and take the average - complex newroot=roots[i]; - int n = 1; - for(int j = i+1; j < 3; ++j) { - // care about error in real much more than imaginary - if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { - newroot += roots[j]; - n += 1; - visited[j] = true; - } - } - if( n > 1 ) { - newroot /= n; - } - // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt - if( IKabs(imag(newroot)) < tolsqrt ) { - rawroots[numroots++] = real(newroot); - } - } - } -} -static inline void polyroots2(IkReal rawcoeffs[2+1], IkReal rawroots[2], int& numroots) { - IkReal det = rawcoeffs[1]*rawcoeffs[1]-4*rawcoeffs[0]*rawcoeffs[2]; - if( det < 0 ) { - numroots=0; - } - else if( det == 0 ) { - rawroots[0] = -0.5*rawcoeffs[1]/rawcoeffs[0]; - numroots = 1; - } - else { - det = IKsqrt(det); - rawroots[0] = (-rawcoeffs[1]+det)/(2*rawcoeffs[0]); - rawroots[1] = (-rawcoeffs[1]-det)/(2*rawcoeffs[0]);//rawcoeffs[2]/(rawcoeffs[0]*rawroots[0]); - numroots = 2; - } -} -static inline void polyroots4(IkReal rawcoeffs[4+1], IkReal rawroots[4], int& numroots) -{ - using std::complex; - if( rawcoeffs[0] == 0 ) { - // solve with one reduced degree - polyroots3(&rawcoeffs[1], &rawroots[0], numroots); - return; - } - IKFAST_ASSERT(rawcoeffs[0] != 0); - const IkReal tol = 128.0*std::numeric_limits::epsilon(); - const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); - complex coeffs[4]; - const int maxsteps = 110; - for(int i = 0; i < 4; ++i) { - coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); - } - complex roots[4]; - IkReal err[4]; - roots[0] = complex(1,0); - roots[1] = complex(0.4,0.9); // any complex number not a root of unity works - err[0] = 1.0; - err[1] = 1.0; - for(int i = 2; i < 4; ++i) { - roots[i] = roots[i-1]*roots[1]; - err[i] = 1.0; - } - for(int step = 0; step < maxsteps; ++step) { - bool changed = false; - for(int i = 0; i < 4; ++i) { - if ( err[i] >= tol ) { - changed = true; - // evaluate - complex x = roots[i] + coeffs[0]; - for(int j = 1; j < 4; ++j) { - x = roots[i] * x + coeffs[j]; - } - for(int j = 0; j < 4; ++j) { - if( i != j ) { - if( roots[i] != roots[j] ) { - x /= (roots[i] - roots[j]); - } - } - } - roots[i] -= x; - err[i] = abs(x); - } - } - if( !changed ) { - break; - } - } - - numroots = 0; - bool visited[4] = {false}; - for(int i = 0; i < 4; ++i) { - if( !visited[i] ) { - // might be a multiple root, in which case it will have more error than the other roots - // find any neighboring roots, and take the average - complex newroot=roots[i]; - int n = 1; - for(int j = i+1; j < 4; ++j) { - // care about error in real much more than imaginary - if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { - newroot += roots[j]; - n += 1; - visited[j] = true; - } - } - if( n > 1 ) { - newroot /= n; - } - // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt - if( IKabs(imag(newroot)) < tolsqrt ) { - rawroots[numroots++] = real(newroot); - } - } - } -} -}; - - -/// solves the inverse kinematics equations. -/// \param pfree is an array specifying the free joints of the chain. -IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { -IKSolver solver; -return solver.ComputeIk(eetrans,eerot,pfree,solutions); -} - -IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions, void* pOpenRAVEManip) { -IKSolver solver; -return solver.ComputeIk(eetrans,eerot,pfree,solutions); -} - -IKFAST_API const char* GetKinematicsHash() { return ""; } - -IKFAST_API const char* GetIkFastVersion() { return "0x10000049"; } - -#ifdef IKFAST_NAMESPACE -} // end namespace -#endif - -#ifndef IKFAST_NO_MAIN -#include -#include -#ifdef IKFAST_NAMESPACE -using namespace IKFAST_NAMESPACE; -#endif -int main(int argc, char** argv) -{ - if( argc != 12+GetNumFreeParameters()+1 ) { - printf("\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n" - "Returns the ik solutions given the transformation of the end effector specified by\n" - "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n" - "There are %d free parameters that have to be specified.\n\n",GetNumFreeParameters()); - return 1; - } - - IkSolutionList solutions; - std::vector vfree(GetNumFreeParameters()); - IkReal eerot[9],eetrans[3]; - eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]); - eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]); - eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]); - for(std::size_t i = 0; i < vfree.size(); ++i) - vfree[i] = atof(argv[13+i]); - bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions); - - if( !bSuccess ) { - fprintf(stderr,"Failed to get ik solution\n"); - return -1; - } - - printf("Found %d ik solutions:\n", (int)solutions.GetNumSolutions()); - std::vector solvalues(GetNumJoints()); - for(std::size_t i = 0; i < solutions.GetNumSolutions(); ++i) { - const IkSolutionBase& sol = solutions.GetSolution(i); - printf("sol%d (free=%d): ", (int)i, (int)sol.GetFree().size()); - std::vector vsolfree(sol.GetFree().size()); - sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL); - for( std::size_t j = 0; j < solvalues.size(); ++j) - printf("%.15f, ", solvalues[j]); - printf("\n"); - } - return 0; -} - -#endif diff --git a/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.dae b/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.dae deleted file mode 100644 index c3d7bbe..0000000 --- a/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.dae +++ /dev/null @@ -1,930 +0,0 @@ - - - - - URDF Collada Writer - - 2017-06-14T11:24:45.000000 - 2017-06-14T11:24:45.000000 - - Z_UP - - - - - - 0 0 0 - 1 0 0 0 - - -0 -0 -0 - 1 0 0 0 - 0 0 0 - 1 0 0 0 - 0 0 0 0 - 0 0 0 - 1 0 0 0 - - - - - - - - - -0 -0 -0 - 1 0 0 0 - 0 0 0.125 - 1 0 0 0 - 0 0 1 0 - 0 0 0 - 1 0 0 0 - - - - - - - - - -0 -0 -0 - 1 0 0 0 - 0 0 0 - 1 0 0 0 - 0 1 0 0 - 0 0 0 - 1 0 0 0 - - - - - - - - - -0 -0 -0 - 1 0 0 0 - 0.04825 0 0.14203 - 0 1 0 89.99992398025213 - 0 1 0 0 - 0 0 0 - 1 0 0 0 - - - - - - - - - -0 -0 -0 - 1 0 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- - 0.0 - - - robot0_kinematics/kmodel0_inst/joint_3/axis0 - - - 0.0 - - - robot0_kinematics/kmodel0_inst/joint_4/axis0 - - - 0.0 - - - robot0_kinematics/kmodel0_inst/joint_5/axis0 - - - 0.0 - - - - - - false - - - false - - - 0.0 - - 0.0 - - - - - - true - - - false - - - -149.94305 - - 149.94305 - - - - - - true - - - false - - - -90.01167 - - 90.01167 - - - - - - true - - - false - - - -90.01167 - - 90.01167 - - - - - - true - - - false - - - -99.98114 - - 99.98114 - - - - - - true - - - false - - - -149.94305 - - 149.94305 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 0 0 0 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - kscene_kmodel0_inst - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_arm_base_joint_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_arm_base_joint_axis0_value - - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_1_axis0_value - - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_2_axis0_value - - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_3_axis0_value - - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_4_axis0_value - - - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0 - - - kscene_kmodel0_inst_robot0_kinematics_kmodel0_inst_joint_5_axis0_value - - - - - - - - \ No newline at end of file diff --git a/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.urdf b/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.urdf deleted file mode 100644 index 54e3eb4..0000000 --- a/widowx_arm_ikfast_plugin/plugin_creation/widowx_arm_ikfast.urdf +++ /dev/null @@ -1,139 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_moveit_plugin.cpp b/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_moveit_plugin.cpp deleted file mode 100644 index d1a0e23..0000000 --- a/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_moveit_plugin.cpp +++ /dev/null @@ -1,830 +0,0 @@ -/********************************************************************* - * - * Software License Agreement (BSD License) - * - * Copyright (c) 2013, Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST; Mathias Lüdtke, Fraunhofer IPA - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in the - * documentation and/or other materials provided with the distribution. - * * Neither the name of the all of the author's companies nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE - * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE - * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR - * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF - * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS - * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN - * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) - * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - *********************************************************************/ - -/* - * IKFast Plugin Template for moveit - * - * AUTO-GENERATED by create_ikfast_moveit_plugin.py in arm_kinematics_tools - * You should run create_ikfast_moveit_plugin.py to generate your own plugin. - * - * Creates a kinematics plugin using the output of IKFast from OpenRAVE. - * This plugin and the move_group node can be used as a general - * kinematics service, from within the moveit planning environment, or in - * your own ROS node. - * - */ - -#include -#include -#include -#include - -// Need a floating point tolerance when checking joint limits, in case the joint starts at limit -const double LIMIT_TOLERANCE = .0000001; - -namespace ikfast_kinematics_plugin -{ - -#define IKFAST_NO_MAIN // Don't include main() from IKFast - -// Code generated by IKFast56/61 -#include "widowx_arm_ikfast_solver.cpp" - -class IKFastKinematicsPlugin : public kinematics::KinematicsBase -{ - std::vector joint_names_; - std::vector joint_min_vector_; - std::vector joint_max_vector_; - std::vector joint_has_limits_vector_; - std::vector link_names_; - size_t num_joints_; - std::vector free_params_; - bool active_; // Internal variable that indicates whether solvers are configured and ready - - const std::vector& getJointNames() const { return joint_names_; } - const std::vector& getLinkNames() const { return link_names_; } - -public: - - /** @class - * @brief Interface for an IKFast kinematics plugin - */ - IKFastKinematicsPlugin():active_(false){} - - /** - * @brief Given a desired pose of the end-effector, compute the joint angles to reach it - * @param ik_pose the desired pose of the link - * @param ik_seed_state an initial guess solution for the inverse kinematics - * @param solution the solution vector - * @param error_code an error code that encodes the reason for failure or success - * @return True if a valid solution was found, false otherwise - */ - - // Returns the first IK solution that is within joint limits, this is called by get_ik() service - bool getPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - /** - * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. - * This particular method is intended for "searching" for a solutions by stepping through the redundancy - * (or other numerical routines). - * @param ik_pose the desired pose of the link - * @param ik_seed_state an initial guess solution for the inverse kinematics - * @return True if a valid solution was found, false otherwise - */ - bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - /** - * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. - * This particular method is intended for "searching" for a solutions by stepping through the redundancy - * (or other numerical routines). - * @param ik_pose the desired pose of the link - * @param ik_seed_state an initial guess solution for the inverse kinematics - * @param the distance that the redundancy can be from the current position - * @return True if a valid solution was found, false otherwise - */ - bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - /** - * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. - * This particular method is intended for "searching" for a solutions by stepping through the redundancy - * (or other numerical routines). - * @param ik_pose the desired pose of the link - * @param ik_seed_state an initial guess solution for the inverse kinematics - * @return True if a valid solution was found, false otherwise - */ - bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - /** - * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. - * This particular method is intended for "searching" for a solutions by stepping through the redundancy - * (or other numerical routines). The consistency_limit specifies that only certain redundancy positions - * around those specified in the seed state are admissible and need to be searched. - * @param ik_pose the desired pose of the link - * @param ik_seed_state an initial guess solution for the inverse kinematics - * @param consistency_limit the distance that the redundancy can be from the current position - * @return True if a valid solution was found, false otherwise - */ - bool searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const; - - /** - * @brief Given a set of joint angles and a set of links, compute their pose - * - * This FK routine is only used if 'use_plugin_fk' is set in the 'arm_kinematics_constraint_aware' node, - * otherwise ROS TF is used to calculate the forward kinematics - * - * @param link_names A set of links for which FK needs to be computed - * @param joint_angles The state for which FK is being computed - * @param poses The resultant set of poses (in the frame returned by getBaseFrame()) - * @return True if a valid solution was found, false otherwise - */ - bool getPositionFK(const std::vector &link_names, - const std::vector &joint_angles, - std::vector &poses) const; - -private: - - bool initialize(const std::string &robot_description, - const std::string& group_name, - const std::string& base_name, - const std::string& tip_name, - double search_discretization); - - /** - * @brief Calls the IK solver from IKFast - * @return The number of solutions found - */ - int solve(KDL::Frame &pose_frame, const std::vector &vfree, IkSolutionList &solutions) const; - - /** - * @brief Gets a specific solution from the set - */ - void getSolution(const IkSolutionList &solutions, int i, std::vector& solution) const; - - double harmonize(const std::vector &ik_seed_state, std::vector &solution) const; - //void getOrderedSolutions(const std::vector &ik_seed_state, std::vector >& solslist); - void getClosestSolution(const IkSolutionList &solutions, const std::vector &ik_seed_state, std::vector &solution) const; - void fillFreeParams(int count, int *array); - bool getCount(int &count, const int &max_count, const int &min_count) const; - -}; // end class - -bool IKFastKinematicsPlugin::initialize(const std::string &robot_description, - const std::string& group_name, - const std::string& base_name, - const std::string& tip_name, - double search_discretization) -{ - setValues(robot_description, group_name, base_name, tip_name, search_discretization); - base_frame_ = "arm_base_link"; - - ros::NodeHandle node_handle("~/"+group_name); - - std::string robot; - node_handle.param("robot",robot,std::string()); - - // IKFast56/61 - fillFreeParams( GetNumFreeParameters(), GetFreeParameters() ); - num_joints_ = GetNumJoints(); - - if(free_params_.size() > 1) - { - ROS_FATAL("Only one free joint paramter supported!"); - return false; - } - - urdf::Model robot_model; - std::string xml_string; - - std::string urdf_xml,full_urdf_xml; - node_handle.param("urdf_xml",urdf_xml,robot_description); - node_handle.searchParam(urdf_xml,full_urdf_xml); - - ROS_DEBUG_NAMED("ikfast","Reading xml file from parameter server"); - if (!node_handle.getParam(full_urdf_xml, xml_string)) - { - ROS_FATAL_NAMED("ikfast","Could not load the xml from parameter server: %s", urdf_xml.c_str()); - return false; - } - - node_handle.param(full_urdf_xml,xml_string,std::string()); - robot_model.initString(xml_string); - - ROS_DEBUG_STREAM_NAMED("ikfast","Reading joints and links from URDF"); - - boost::shared_ptr link = boost::const_pointer_cast(robot_model.getLink(tip_frame_)); - while(link->name != base_frame_ && joint_names_.size() <= num_joints_) - { - ROS_DEBUG_NAMED("ikfast","Link %s",link->name.c_str()); - link_names_.push_back(link->name); - boost::shared_ptr joint = link->parent_joint; - if(joint) - { - if (joint->type != urdf::Joint::UNKNOWN && joint->type != urdf::Joint::FIXED) - { - ROS_DEBUG_STREAM_NAMED("ikfast","Adding joint " << joint->name ); - - joint_names_.push_back(joint->name); - float lower, upper; - int hasLimits; - if ( joint->type != urdf::Joint::CONTINUOUS ) - { - if(joint->safety) - { - lower = joint->safety->soft_lower_limit; - upper = joint->safety->soft_upper_limit; - } else { - lower = joint->limits->lower; - upper = joint->limits->upper; - } - hasLimits = 1; - } - else - { - lower = -M_PI; - upper = M_PI; - hasLimits = 0; - } - if(hasLimits) - { - joint_has_limits_vector_.push_back(true); - joint_min_vector_.push_back(lower); - joint_max_vector_.push_back(upper); - } - else - { - joint_has_limits_vector_.push_back(false); - joint_min_vector_.push_back(-M_PI); - joint_max_vector_.push_back(M_PI); - } - } - } else - { - ROS_WARN_NAMED("ikfast","no joint corresponding to %s",link->name.c_str()); - } - link = link->getParent(); - } - - if(joint_names_.size() != num_joints_) - { - ROS_FATAL_STREAM_NAMED("ikfast","Joint numbers mismatch: URDF has " << joint_names_.size() << " and IKFast has " << num_joints_); - return false; - } - - std::reverse(link_names_.begin(),link_names_.end()); - std::reverse(joint_names_.begin(),joint_names_.end()); - std::reverse(joint_min_vector_.begin(),joint_min_vector_.end()); - std::reverse(joint_max_vector_.begin(),joint_max_vector_.end()); - std::reverse(joint_has_limits_vector_.begin(), joint_has_limits_vector_.end()); - - for(size_t i=0; i &vfree, IkSolutionList &solutions) const -{ - // IKFast56/61 - solutions.Clear(); - - //KDL::Rotation rot = KDL::Rotation::RotY(M_PI/2); - KDL::Rotation orig = pose_frame.M; - KDL::Rotation mult = orig;//*rot; - - /*double vals[9]; - vals[0] = mult(0,0); - vals[1] = mult(0,1); - vals[2] = mult(0,2); - vals[3] = mult(1,0); - vals[4] = mult(1,1); - vals[5] = mult(1,2); - vals[6] = mult(2,0); - vals[7] = mult(2,1); - vals[8] = mult(2,2);*/ - KDL::Vector direction = mult * KDL::Vector(0,0,1); - - double trans[3]; - trans[0] = pose_frame.p[0];//-.18; - trans[1] = pose_frame.p[1]; - trans[2] = pose_frame.p[2]; - - // IKFast56/61 - ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : NULL, solutions); - //ComputeIk(trans, vals, vfree.size() > 0 ? &vfree[0] : NULL, solutions); - return solutions.GetNumSolutions(); -} - -void IKFastKinematicsPlugin::getSolution(const IkSolutionList &solutions, int i, std::vector& solution) const -{ - solution.clear(); - solution.resize(num_joints_); - - // IKFast56/61 - const IkSolutionBase& sol = solutions.GetSolution(i); - std::vector vsolfree( sol.GetFree().size() ); - sol.GetSolution(&solution[0],vsolfree.size()>0?&vsolfree[0]:NULL); - - // std::cout << "solution " << i << ":" ; - // for(int j=0;j &ik_seed_state, std::vector &solution) const -{ - double dist_sqr = 0; - std::vector ss = ik_seed_state; - for(size_t i=0; i< ik_seed_state.size(); ++i) - { - while(ss[i] > 2*M_PI) { - ss[i] -= 2*M_PI; - } - while(ss[i] < 2*M_PI) { - ss[i] += 2*M_PI; - } - while(solution[i] > 2*M_PI) { - solution[i] -= 2*M_PI; - } - while(solution[i] < 2*M_PI) { - solution[i] += 2*M_PI; - } - dist_sqr += fabs(ik_seed_state[i] - solution[i]); - } - return dist_sqr; -} - -// void IKFastKinematicsPlugin::getOrderedSolutions(const std::vector &ik_seed_state, -// std::vector >& solslist) -// { -// std::vector -// double mindist = 0; -// int minindex = -1; -// std::vector sol; -// for(size_t i=0;i &ik_seed_state, - double timeout, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - const IKCallbackFn solution_callback = 0; - std::vector consistency_limits; - - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - consistency_limits, - solution, - solution_callback, - error_code, - options); -} - -bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - const IKCallbackFn solution_callback = 0; - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - consistency_limits, - solution, - solution_callback, - error_code, - options); -} - -bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - std::vector consistency_limits; - return searchPositionIK(ik_pose, - ik_seed_state, - timeout, - consistency_limits, - solution, - solution_callback, - error_code, - options); -} - -bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - double timeout, - const std::vector &consistency_limits, - std::vector &solution, - const IKCallbackFn &solution_callback, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - ROS_DEBUG_STREAM_NAMED("ikfast","searchPositionIK"); - - // Check if there are no redundant joints - if(free_params_.size()==0) - { - ROS_DEBUG_STREAM_NAMED("ikfast","No need to search since no free params/redundant joints"); - - // Find first IK solution, within joint limits - if(!getPositionIK(ik_pose, ik_seed_state, solution, error_code)) - { - ROS_DEBUG_STREAM_NAMED("ikfast","No solution whatsoever"); - error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; - return false; - } - - // check for collisions if a callback is provided - if( !solution_callback.empty() ) - { - solution_callback(ik_pose, solution, error_code); - if(error_code.val == moveit_msgs::MoveItErrorCodes::SUCCESS) - { - ROS_DEBUG_STREAM_NAMED("ikfast","Solution passes callback"); - return true; - } - else - { - ROS_DEBUG_STREAM_NAMED("ikfast","Solution has error code " << error_code); - return false; - } - } - else - { - return true; // no collision check callback provided - } - } - - // ------------------------------------------------------------------------------------------------- - // Error Checking - if(!active_) - { - ROS_ERROR_STREAM_NAMED("ikfast","Kinematics not active"); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - if(ik_seed_state.size() != num_joints_) - { - ROS_ERROR_STREAM_NAMED("ikfast","Seed state must have size " << num_joints_ << " instead of size " << ik_seed_state.size()); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - if(!consistency_limits.empty() && consistency_limits.size() != num_joints_) - { - ROS_ERROR_STREAM_NAMED("ikfast","Consistency limits be empty or must have size " << num_joints_ << " instead of size " << consistency_limits.size()); - error_code.val = error_code.NO_IK_SOLUTION; - return false; - } - - - // ------------------------------------------------------------------------------------------------- - // Initialize - - KDL::Frame frame; - tf::poseMsgToKDL(ik_pose,frame); - - std::vector vfree(free_params_.size()); - - ros::Time maxTime = ros::Time::now() + ros::Duration(timeout); - int counter = 0; - - double initial_guess = ik_seed_state[free_params_[0]]; - vfree[0] = initial_guess; - - // ------------------------------------------------------------------------------------------------- - // Handle consitency limits if needed - int num_positive_increments; - int num_negative_increments; - - if(!consistency_limits.empty()) - { - // moveit replaced consistency_limit (scalar) w/ consistency_limits (vector) - // Assume [0]th free_params element for now. Probably wrong. - double max_limit = fmin(joint_max_vector_[free_params_[0]], initial_guess+consistency_limits[free_params_[0]]); - double min_limit = fmax(joint_min_vector_[free_params_[0]], initial_guess-consistency_limits[free_params_[0]]); - - num_positive_increments = (int)((max_limit-initial_guess)/search_discretization_); - num_negative_increments = (int)((initial_guess-min_limit)/search_discretization_); - } - else // no consitency limits provided - { - num_positive_increments = (joint_max_vector_[free_params_[0]]-initial_guess)/search_discretization_; - num_negative_increments = (initial_guess-joint_min_vector_[free_params_[0]])/search_discretization_; - } - - // ------------------------------------------------------------------------------------------------- - // Begin searching - - ROS_DEBUG_STREAM_NAMED("ikfast","Free param is " << free_params_[0] << " initial guess is " << initial_guess << ", # positive increments: " << num_positive_increments << ", # negative increments: " << num_negative_increments); - - while(true) - { - IkSolutionList solutions; - int numsol = solve(frame,vfree, solutions); - - ROS_DEBUG_STREAM_NAMED("ikfast","Found " << numsol << " solutions from IKFast"); - - //ROS_INFO("%f",vfree[0]); - - if( numsol > 0 ) - { - for(int s = 0; s < numsol; ++s) - { - std::vector sol; - getSolution(solutions,s,sol); - - bool obeys_limits = true; - for(unsigned int i = 0; i < sol.size(); i++) - { - if(joint_has_limits_vector_[i] && (sol[i] < joint_min_vector_[i] || sol[i] > joint_max_vector_[i])) - { - obeys_limits = false; - break; - } - //ROS_INFO_STREAM_NAMED("ikfast","Num " << i << " value " << sol[i] << " has limits " << joint_has_limits_vector_[i] << " " << joint_min_vector_[i] << " " << joint_max_vector_[i]); - } - if(obeys_limits) - { - getSolution(solutions,s,solution); - - // This solution is within joint limits, now check if in collision (if callback provided) - if(!solution_callback.empty()) - { - solution_callback(ik_pose, solution, error_code); - } - else - { - error_code.val = error_code.SUCCESS; - } - - if(error_code.val == error_code.SUCCESS) - { - return true; - } - } - } - } - - if(!getCount(counter, num_positive_increments, num_negative_increments)) - { - error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; - return false; - } - - vfree[0] = initial_guess+search_discretization_*counter; - ROS_DEBUG_STREAM_NAMED("ikfast","Attempt " << counter << " with 0th free joint having value " << vfree[0]); - } - - // not really needed b/c shouldn't ever get here - error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; - return false; -} - -// Used when there are no redundant joints - aka no free params -bool IKFastKinematicsPlugin::getPositionIK(const geometry_msgs::Pose &ik_pose, - const std::vector &ik_seed_state, - std::vector &solution, - moveit_msgs::MoveItErrorCodes &error_code, - const kinematics::KinematicsQueryOptions &options) const -{ - ROS_DEBUG_STREAM_NAMED("ikfast","getPositionIK"); - - if(!active_) - { - ROS_ERROR("kinematics not active"); - return false; - } - - std::vector vfree(free_params_.size()); - for(std::size_t i = 0; i < free_params_.size(); ++i) - { - int p = free_params_[i]; - ROS_ERROR("%u is %f",p,ik_seed_state[p]); // DTC - vfree[i] = ik_seed_state[p]; - } - - KDL::Frame frame; - tf::poseMsgToKDL(ik_pose,frame); - - IkSolutionList solutions; - int numsol = solve(frame,vfree,solutions); - - ROS_DEBUG_STREAM_NAMED("ikfast","Found " << numsol << " solutions from IKFast"); - - if(numsol) - { - for(int s = 0; s < numsol; ++s) - { - std::vector sol; - getSolution(solutions,s,sol); - ROS_DEBUG_NAMED("ikfast","Sol %d: %e %e %e %e %e %e", s, sol[0], sol[1], sol[2], sol[3], sol[4], sol[5]); - - bool obeys_limits = true; - for(unsigned int i = 0; i < sol.size(); i++) - { - // Add tolerance to limit check - if(joint_has_limits_vector_[i] && ( (sol[i] < (joint_min_vector_[i]-LIMIT_TOLERANCE)) || - (sol[i] > (joint_max_vector_[i]+LIMIT_TOLERANCE)) ) ) - { - // One element of solution is not within limits - obeys_limits = false; - ROS_DEBUG_STREAM_NAMED("ikfast","Not in limits! " << i << " value " << sol[i] << " has limit: " << joint_has_limits_vector_[i] << " being " << joint_min_vector_[i] << " to " << joint_max_vector_[i]); - break; - } - } - if(obeys_limits) - { - // All elements of solution obey limits - getSolution(solutions,s,solution); - error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS; - return true; - } - } - } - else - { - ROS_DEBUG_STREAM_NAMED("ikfast","No IK solution"); - } - - error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; - return false; -} - - - -} // end namespace - -//register IKFastKinematicsPlugin as a KinematicsBase implementation -#include -PLUGINLIB_EXPORT_CLASS(ikfast_kinematics_plugin::IKFastKinematicsPlugin, kinematics::KinematicsBase); diff --git a/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_solver.cpp b/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_solver.cpp deleted file mode 100644 index d325c42..0000000 --- a/widowx_arm_ikfast_plugin/src/widowx_arm_ikfast_solver.cpp +++ /dev/null @@ -1,2137 +0,0 @@ -/// autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE -/// \author Rosen Diankov -/// -/// Licensed under the Apache License, Version 2.0 (the "License"); -/// you may not use this file except in compliance with the License. -/// You may obtain a copy of the License at -/// http://www.apache.org/licenses/LICENSE-2.0 -/// -/// Unless required by applicable law or agreed to in writing, software -/// distributed under the License is distributed on an "AS IS" BASIS, -/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -/// See the License for the specific language governing permissions and -/// limitations under the License. -/// -/// ikfast version 0x10000049 generated on 2017-06-06 13:31:40.410634 -/// To compile with gcc: -/// gcc -lstdc++ ik.cpp -/// To compile without any main function as a shared object (might need -llapack): -/// gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp -#define IKFAST_HAS_LIBRARY -#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h -using namespace ikfast; - -// check if the included ikfast version matches what this file was compiled with -#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] -IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x10000049); - -#include -#include -#include -#include -#include - -#ifndef IKFAST_ASSERT -#include -#include -#include - -#ifdef _MSC_VER -#ifndef __PRETTY_FUNCTION__ -#define __PRETTY_FUNCTION__ __FUNCDNAME__ -#endif -#endif - -#ifndef __PRETTY_FUNCTION__ -#define __PRETTY_FUNCTION__ __func__ -#endif - -#define IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } } - -#endif - -#if defined(_MSC_VER) -#define IKFAST_ALIGNED16(x) __declspec(align(16)) x -#else -#define IKFAST_ALIGNED16(x) x __attribute((aligned(16))) -#endif - -#define IK2PI ((IkReal)6.28318530717959) -#define IKPI ((IkReal)3.14159265358979) -#define IKPI_2 ((IkReal)1.57079632679490) - -#ifdef _MSC_VER -#ifndef isnan -#define isnan _isnan -#endif -#ifndef isinf -#define isinf _isinf -#endif -//#ifndef isfinite -//#define isfinite _isfinite -//#endif -#endif // _MSC_VER - -// lapack routines -extern "C" { - void dgetrf_ (const int* m, const int* n, double* a, const int* lda, int* ipiv, int* info); - void zgetrf_ (const int* m, const int* n, std::complex* a, const int* lda, int* ipiv, int* info); - void dgetri_(const int* n, const double* a, const int* lda, int* ipiv, double* work, const int* lwork, int* info); - void dgesv_ (const int* n, const int* nrhs, double* a, const int* lda, int* ipiv, double* b, const int* ldb, int* info); - void dgetrs_(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info); - void dgeev_(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi,double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info); -} - -using namespace std; // necessary to get std math routines - -#ifdef IKFAST_NAMESPACE -namespace IKFAST_NAMESPACE { -#endif - -inline float IKabs(float f) { return fabsf(f); } -inline double IKabs(double f) { return fabs(f); } - -inline float IKsqr(float f) { return f*f; } -inline double IKsqr(double f) { return f*f; } - -inline float IKlog(float f) { return logf(f); } -inline double IKlog(double f) { return log(f); } - -// allows asin and acos to exceed 1. has to be smaller than thresholds used for branch conds and evaluation -#ifndef IKFAST_SINCOS_THRESH -#define IKFAST_SINCOS_THRESH ((IkReal)1e-7) -#endif - -// used to check input to atan2 for degenerate cases. has to be smaller than thresholds used for branch conds and evaluation -#ifndef IKFAST_ATAN2_MAGTHRESH -#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7) -#endif - -// minimum distance of separate solutions -#ifndef IKFAST_SOLUTION_THRESH -#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6) -#endif - -// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold speicfies by how much they can deviate -#ifndef IKFAST_EVALCOND_THRESH -#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001) -#endif - - -inline float IKasin(float f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return float(-IKPI_2); -else if( f >= 1 ) return float(IKPI_2); -return asinf(f); -} -inline double IKasin(double f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return -IKPI_2; -else if( f >= 1 ) return IKPI_2; -return asin(f); -} - -// return positive value in [0,y) -inline float IKfmod(float x, float y) -{ - while(x < 0) { - x += y; - } - return fmodf(x,y); -} - -// return positive value in [0,y) -inline double IKfmod(double x, double y) -{ - while(x < 0) { - x += y; - } - return fmod(x,y); -} - -inline float IKacos(float f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return float(IKPI); -else if( f >= 1 ) return float(0); -return acosf(f); -} -inline double IKacos(double f) -{ -IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver -if( f <= -1 ) return IKPI; -else if( f >= 1 ) return 0; -return acos(f); -} -inline float IKsin(float f) { return sinf(f); } -inline double IKsin(double f) { return sin(f); } -inline float IKcos(float f) { return cosf(f); } -inline double IKcos(double f) { return cos(f); } -inline float IKtan(float f) { return tanf(f); } -inline double IKtan(double f) { return tan(f); } -inline float IKsqrt(float f) { if( f <= 0.0f ) return 0.0f; return sqrtf(f); } -inline double IKsqrt(double f) { if( f <= 0.0 ) return 0.0; return sqrt(f); } -inline float IKatan2Simple(float fy, float fx) { - return atan2f(fy,fx); -} -inline float IKatan2(float fy, float fx) { - if( isnan(fy) ) { - IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned - return float(IKPI_2); - } - else if( isnan(fx) ) { - return 0; - } - return atan2f(fy,fx); -} -inline double IKatan2Simple(double fy, double fx) { - return atan2(fy,fx); -} -inline double IKatan2(double fy, double fx) { - if( isnan(fy) ) { - IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned - return IKPI_2; - } - else if( isnan(fx) ) { - return 0; - } - return atan2(fy,fx); -} - -template -struct CheckValue -{ - T value; - bool valid; -}; - -template -inline CheckValue IKatan2WithCheck(T fy, T fx, T epsilon) -{ - CheckValue ret; - ret.valid = false; - ret.value = 0; - if( !isnan(fy) && !isnan(fx) ) { - if( IKabs(fy) >= IKFAST_ATAN2_MAGTHRESH || IKabs(fx) > IKFAST_ATAN2_MAGTHRESH ) { - ret.value = IKatan2Simple(fy,fx); - ret.valid = true; - } - } - return ret; -} - -inline float IKsign(float f) { - if( f > 0 ) { - return float(1); - } - else if( f < 0 ) { - return float(-1); - } - return 0; -} - -inline double IKsign(double f) { - if( f > 0 ) { - return 1.0; - } - else if( f < 0 ) { - return -1.0; - } - return 0; -} - -template -inline CheckValue IKPowWithIntegerCheck(T f, int n) -{ - CheckValue ret; - ret.valid = true; - if( n == 0 ) { - ret.value = 1.0; - return ret; - } - else if( n == 1 ) - { - ret.value = f; - return ret; - } - else if( n < 0 ) - { - if( f == 0 ) - { - ret.valid = false; - ret.value = (T)1.0e30; - return ret; - } - if( n == -1 ) { - ret.value = T(1.0)/f; - return ret; - } - } - - int num = n > 0 ? n : -n; - if( num == 2 ) { - ret.value = f*f; - } - else if( num == 3 ) { - ret.value = f*f*f; - } - else { - ret.value = 1.0; - while(num>0) { - if( num & 1 ) { - ret.value *= f; - } - num >>= 1; - f *= f; - } - } - - if( n < 0 ) { - ret.value = T(1.0)/ret.value; - } - return ret; -} - -/// solves the forward kinematics equations. -/// \param pfree is an array specifying the free joints of the chain. -IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) { -IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25,x26,x27; -x0=IKcos(j[0]); -x1=IKsin(j[1]); -x2=IKcos(j[2]); -x3=IKcos(j[1]); -x4=IKsin(j[2]); -x5=IKcos(j[3]); -x6=IKsin(j[0]); -x7=IKsin(j[3]); -x8=IKcos(j[4]); -x9=IKsin(j[4]); -x10=((0.04825)*x3); -x11=((0.14203)*x4); -x12=((1.0)*x0); -x13=((1.0)*x7); -x14=((0.0715)*x2); -x15=((0.14203)*x1); -x16=((0.0715)*x0); -x17=((0.0715)*x6); -x18=((2.0e-7)*x6); -x19=((1.0)*x6); -x20=((2.0e-7)*x0); -x21=((1.0)*x5); -x22=(x1*x4); -x23=(x1*x2); -x24=(x1*x6); -x25=(x2*x3); -x26=(x3*x4); -x27=(x0*x1); -IkReal x28=((1.0)*x16); -IkReal x29=((1.0)*x27); -eetrans[0]=(((x0*x15))+((x0*x10))+(((0.14203)*x0*x25))+((x7*(((((-1.0)*x14*x29))+(((-1.0)*x26*x28))))))+(((-1.0)*x11*x29))+((x20*x23))+((x20*x26))+((x5*(((((-1.0)*x22*x28))+((x0*x14*x3))))))); -IkReal x30=((1.0)*x17); -IkReal x31=((1.0)*x24); -eetrans[1]=(((x18*x23))+((x18*x26))+(((-1.0)*x11*x31))+((x7*(((((-1.0)*x26*x30))+(((-1.0)*x14*x31))))))+((x10*x6))+((x5*(((((-1.0)*x22*x30))+((x14*x3*x6))))))+(((0.14203)*x25*x6))+((x15*x6))); -IkReal x32=((1.0)*x3); -eetrans[2]=((0.125)+(((2.0e-7)*x25))+((x7*(((((0.0715)*x22))+(((-1.0)*x14*x32))))))+(((0.14203)*x3))+(((-1.0)*x11*x32))+(((-2.0e-7)*x22))+((x5*(((((-1.0)*x1*x14))+(((-0.0715)*x26))))))+(((-1.0)*x15*x2))+(((-0.04825)*x1))); -eerot[0]=(((x6*x9))+(((-1.0)*x8*((((x13*((((x12*x26))+((x12*x23))))))+((x21*((((x0*x22))+(((-1.0)*x12*x25))))))))))); -eerot[1]=((((-1.0)*x12*x9))+(((-1.0)*x8*((((x21*((((x22*x6))+(((-1.0)*x19*x25))))))+((x13*((((x19*x26))+((x19*x23))))))))))); -eerot[2]=((-1.0)*x8*((((x21*((x26+x23))))+((x13*(((((-1.0)*x22))+(((1.0)*x25))))))))); -} - -IKFAST_API int GetNumFreeParameters() { return 0; } -IKFAST_API int* GetFreeParameters() { return NULL; } -IKFAST_API int GetNumJoints() { return 5; } - -IKFAST_API int GetIkRealSize() { return sizeof(IkReal); } - -IKFAST_API int GetIkType() { return 0x56000007; } - -class IKSolver { -public: -IkReal j0,cj0,sj0,htj0,j0mul,j1,cj1,sj1,htj1,j1mul,j2,cj2,sj2,htj2,j2mul,j3,cj3,sj3,htj3,j3mul,j4,cj4,sj4,htj4,j4mul,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp; -unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4; - -IkReal j100, cj100, sj100; -unsigned char _ij100[2], _nj100; -bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { -j0=numeric_limits::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; -for(int dummyiter = 0; dummyiter < 1; ++dummyiter) { - solutions.Clear(); -px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; - -r00 = eerot[0]; -r01 = eerot[1]; -r02 = eerot[2]; -px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; -new_r00=r00; -new_px=px; -new_r01=r01; -new_py=py; -new_r02=r02; -new_pz=((-0.125)+pz); -r00 = new_r00; r01 = new_r01; r02 = new_r02; px = new_px; py = new_py; pz = new_pz; - -pp=((px*px)+(py*py)+(pz*pz)); -{ -IkReal j0eval[1]; -j0eval[0]=((IKabs(px))+(IKabs(py))); -if( IKabs(j0eval[0]) < 0.0000010000000000 ) -{ -continue; // no branches [j0] - -} else -{ -{ -IkReal j0array[2], cj0array[2], sj0array[2]; -bool j0valid[2]={false}; -_nj0 = 2; -CheckValue x34 = IKatan2WithCheck(IkReal(((-1.0)*py)),IkReal(px),IKFAST_ATAN2_MAGTHRESH); -if(!x34.valid){ -continue; -} -IkReal x33=x34.value; -j0array[0]=((-1.0)*x33); -sj0array[0]=IKsin(j0array[0]); -cj0array[0]=IKcos(j0array[0]); -j0array[1]=((3.14159265358979)+(((-1.0)*x33))); -sj0array[1]=IKsin(j0array[1]); -cj0array[1]=IKcos(j0array[1]); -if( j0array[0] > IKPI ) -{ - j0array[0]-=IK2PI; -} -else if( j0array[0] < -IKPI ) -{ j0array[0]+=IK2PI; -} -j0valid[0] = true; -if( j0array[1] > IKPI ) -{ - j0array[1]-=IK2PI; -} -else if( j0array[1] < -IKPI ) -{ j0array[1]+=IK2PI; -} -j0valid[1] = true; -for(int ij0 = 0; ij0 < 2; ++ij0) -{ -if( !j0valid[ij0] ) -{ - continue; -} -_ij0[0] = ij0; _ij0[1] = -1; -for(int iij0 = ij0+1; iij0 < 2; ++iij0) -{ -if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH ) -{ - j0valid[iij0]=false; _ij0[1] = iij0; break; -} -} -j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0]; - -IkReal op[4+1], zeror[4]; -int numroots; -op[0]=((((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((-1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((0.19114141719984)*py*pz*r01*r02*(sj0*sj0)))+(((0.00158175260252272)*py*r01*r02))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((-0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((0.56812)*pz*(py*py)*(r02*r02)))+(((0.00053734818750772)*py*sj0*(r01*r01)))+(((0.0019733285)*pz*r01*r02*sj0))+(((0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((0.386)*pz*r01*r02*sj0*(px*px)))+(((-0.579)*px*r00*r01*sj0*(py*py)))+(((-0.15024341719984)*py*pz*r01*r02))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.00143598031249228)*cj0*px*(r02*r02)))+(((-0.193)*cj0*py*r00*r01*(pz*pz)))+(((0.01113674999984)*px*py*r00*r01*(sj0*sj0)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.00556837499992)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((-7.75170003456103e-6)*(cj0*cj0)*(r00*r00)))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.00556837499992)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.55034000691221e-5)*cj0*r00*r01*sj0))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((0.00422699033747728)*py*r01*r02*(sj0*sj0)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((0.386)*cj0*pz*r00*r02*(py*py)))+(((-0.193)*px*r00*r01*sj0*(pz*pz)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((-0.193)*cj0*(px*px*px)*(r02*r02)))+(((0.56812)*r01*r02*(py*py*py)))+(((-1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.00422699033747728)*pz*(r01*r01)*(sj0*sj0)))+(((-0.09557070859992)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.19114141719984)*cj0*py*pz*r00*r02*sj0))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-0.00931224999984)*(py*py)*(r01*r01)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.00422699033747728)*pz*(cj0*cj0)*(r00*r00)))+(((-1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.09557070859992)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((0.00053734818750772)*cj0*px*(r00*r00)))+(((-2.27248)*px*py*pz*r00*r01))+(((1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.386)*cj0*px*py*pz*r01*r02))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(pz*pz)))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-0.19114141719984)*cj0*r00*r01*sj0*(pz*pz)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((0.00158175260252272)*pz*(r02*r02)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.01113674999984)*cj0*px*py*sj0*(r00*r00)))+(((1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.00158175260252272)*px*r00*r02))+(((-1.70436)*py*r01*r02*(pz*pz)))+(((0.193)*py*sj0*(px*px)*(r01*r01)))+(((0.00556837499992)*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((0.06580945860008)*(py*py)*(r02*r02)))+(((-0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((0.56812)*py*r01*r02*(px*px)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-0.00931224999984)*(px*px)*(r00*r00)))+(((0.19114141719984)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-0.00143598031249228)*py*sj0*(r02*r02)))+(((-0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.00556837499992)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00422699033747728)*cj0*px*r01*r02*sj0))+(((0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.000280271846855)*r01*r02*sj0))+(((-0.193)*cj0*px*(py*py)*(r02*r02)))+(((-0.386)*px*py*pz*r00*r02*sj0))+(((-0.386)*cj0*px*(py*py)*(r01*r01)))+(((0.00053734818750772)*cj0*py*r00*r01))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-0.193)*cj0*(px*px*px)*(r00*r00)))+(((-0.579)*cj0*py*r00*r01*(px*px)))+(((0.19114141719984)*px*pz*r00*r02*(cj0*cj0)))+(((-0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((0.56812)*px*r00*r02*(py*py)))+(((-0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.07512170859992)*(pz*pz)*(r02*r02)))+(((-0.386)*py*sj0*(px*px)*(r00*r00)))+(((0.000357149629787039)*(r02*r02)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((0.56812)*pz*(px*px)*(r02*r02)))+(((0.01113674999984)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((0.56812)*r00*r02*(px*px*px)))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-1.13624)*pz*(px*px)*(r00*r00)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((0.01113674999984)*px*py*r00*r01*(cj0*cj0)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((0.00422699033747728)*px*r00*r02*(cj0*cj0)))+(((0.000280271846855)*cj0*r00*r02))+(((0.193)*cj0*r00*r01*(py*py*py)))+(((0.00053734818750772)*px*r00*r01*sj0))+(((0.06580945860008)*(px*px)*(r02*r02)))+(((-1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((-0.00845398067495455)*cj0*pz*r00*r01*sj0))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((-2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.193)*py*sj0*(px*px)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((-1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.193)*r00*r01*sj0*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((0.00422699033747728)*cj0*py*r00*r02*sj0))+(((1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.01862449999968)*px*py*r00*r01))+(((-0.193)*sj0*(py*py*py)*(r02*r02)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((-0.15024341719984)*px*pz*r00*r02))+(((-0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((0.0019733285)*cj0*pz*r00*r02))+(((-1.13624)*pz*(py*py)*(r01*r01)))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-7.75170003456103e-6)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((-0.193)*sj0*(py*py*py)*(r01*r01)))); -op[1]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((0.00287196062498456)*cj0*px*r01*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((-0.00316350520504545)*py*sj0*(r01*r01)))+(((0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((-0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.21929432)*py*pz*r01*r02))+(((0.00287196062498456)*cj0*py*r00*r02*sj0))+(((0.00107469637501544)*py*r01*r02))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.2855113344)*cj0*py*pz*r00*r01))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-0.00316350520504545)*px*r00*r01*sj0))+(((0.00845398067495455)*cj0*px*(r02*r02)))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((0.2855113344)*py*pz*sj0*(r02*r02)))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.00287196062498456)*pz*(r01*r01)*(sj0*sj0)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((0.00287196062498456)*py*r01*r02*(sj0*sj0)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.00112108738742)*cj0*r00*r01*sj0))+(((0.21929432)*cj0*py*pz*r00*r02*sj0))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((0.21929432)*cj0*px*pz*r01*r02*sj0))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.0014596053192864)*cj0*r00*r02))+(((-0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((0.2855113344)*cj0*px*pz*(r02*r02)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.00287196062498456)*px*r00*r02*(cj0*cj0)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.00056054369371)*(r02*r02)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.00287196062498456)*pz*(cj0*cj0)*(r00*r00)))+(((0.00845398067495455)*py*sj0*(r02*r02)))+(((-0.10964716)*(pz*pz)*(r02*r02)))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-0.2855113344)*r01*r02*sj0*(px*px)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.386)*py*r01*r02*(px*px)))+(((-0.00316350520504545)*cj0*px*(r00*r00)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.10964716)*(px*px)*(r02*r02)))+(((0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.00316350520504545)*cj0*py*r00*r01))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.2855113344)*cj0*r00*r02*(py*py)))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((0.386)*px*r00*r02*(py*py)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((-0.21929432)*px*pz*r00*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((0.2855113344)*cj0*px*pz*(r00*r00)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((0.00107469637501544)*pz*(r02*r02)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.2855113344)*py*pz*sj0*(r01*r01)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.2855113344)*px*pz*r00*r01*sj0))+(((0.2855113344)*px*py*r00*r02*sj0))+(((0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((0.00107469637501544)*px*r00*r02))+(((-0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.10964716)*(py*py)*(r02*r02)))+(((0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*px*py*r01*r02))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.0014596053192864)*r01*r02*sj0))+(((-0.00574392124996912)*cj0*pz*r00*r01*sj0))); -op[2]=((((8.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((-24.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((-8.0)*px*r00*r02*(pz*pz*pz)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((-0.15389241719984)*(px*px)*(r02*r02)))+(((-24.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((8.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((8.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((-0.18873983440032)*cj0*py*pz*r00*r02*sj0))+(((0.18873983440032)*cj0*r00*r01*sj0*(pz*pz)))+(((-2.0)*(px*px*px*px)*(r02*r02)))+(((-2.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((0.32894148)*cj0*py*pz*r00*r01))+(((-4.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((4.0)*(px*px)*(pz*pz)*(r02*r02)))+(((8.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-0.32894148)*cj0*r00*r02*(py*py)))+(((0.32894148)*cj0*px*pz*(r02*r02)))+(((-24.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((0.27053583440032)*py*pz*r01*r02))+(((-8.0)*(px*px)*(pz*pz)*(r00*r00)))+(((0.00288820383843456)*cj0*r00*r01*sj0))+(((-4.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((-0.18873983440032)*py*pz*r01*r02*(sj0*sj0)))+(((8.0)*pz*r01*r02*(py*py*py)))+(((8.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((-0.03724899999936)*px*py*r00*r01))+(((-8.0)*py*r01*r02*(pz*pz*pz)))+(((0.32894148)*px*py*r00*r02*sj0))+(((-2.0)*(pz*pz*pz*pz)*(r02*r02)))+(((-8.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((8.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-2.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((-8.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-2.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-8.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-0.01862449999968)*(px*px)*(r00*r00)))+(((-8.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((0.27437458440016)*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.32894148)*cj0*px*pz*(r00*r00)))+(((-0.32894148)*r01*r02*sj0*(px*px)))+(((0.00144410191921728)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.54874916880032)*cj0*px*py*sj0*(r00*r00)))+(((-16.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((0.13526791720016)*(pz*pz)*(r02*r02)))+(((-2.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r02*r02)))+(((-0.27437458440016)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((4.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((-0.01862449999968)*(py*py)*(r01*r01)))+(((0.32894148)*cj0*px*py*r01*r02))+(((-0.15389241719984)*(py*py)*(r02*r02)))+(((0.27437458440016)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-8.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.27437458440016)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.27053583440032)*px*pz*r00*r02))+(((-8.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((0.32894148)*py*pz*sj0*(r01*r01)))+(((-0.54874916880032)*px*py*r00*r01*(sj0*sj0)))+(((-0.1800046672)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.18873983440032)*cj0*px*pz*r01*r02*sj0))+(((8.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((4.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.00168163108113)*r01*r02*sj0))+(((-0.1800046672)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-0.54874916880032)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-16.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.09436991720016)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((8.0)*py*pz*r01*r02*(px*px)))+(((-16.0)*px*py*r00*r01*(pz*pz)))+(((-2.0)*(py*py*py*py)*(r02*r02)))+(((4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.54874916880032)*px*py*r00*r01*(cj0*cj0)))+(((-16.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((8.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((8.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((8.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((0.09436991720016)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-0.000745306059712322)*(r02*r02)))+(((8.0)*pz*r00*r02*(px*px*px)))+(((-0.00168163108113)*cj0*r00*r02))+(((8.0)*px*pz*r00*r02*(py*py)))+(((-8.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-8.0)*(py*py)*(pz*pz)*(r01*r01)))+(((4.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-8.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-8.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.32894148)*py*pz*sj0*(r02*r02)))+(((-8.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-0.18873983440032)*px*pz*r00*r02*(cj0*cj0)))+(((-0.3600093344)*cj0*px*py*sj0*(r02*r02)))+(((0.32894148)*px*pz*r00*r01*sj0))+(((0.00144410191921728)*(cj0*cj0)*(r00*r00)))); -op[3]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.00287196062498456)*cj0*px*r01*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((-0.00316350520504545)*py*sj0*(r01*r01)))+(((0.10964716)*(pz*pz)*(r02*r02)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((0.00287196062498456)*cj0*py*r00*r02*sj0))+(((0.00107469637501544)*py*r01*r02))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-0.00316350520504545)*px*r00*r01*sj0))+(((0.00845398067495455)*cj0*px*(r02*r02)))+(((-0.2855113344)*px*pz*r00*r01*sj0))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((-0.2855113344)*cj0*px*py*r01*r02))+(((0.0014596053192864)*r01*r02*sj0))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.00287196062498456)*pz*(r01*r01)*(sj0*sj0)))+(((0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((0.00287196062498456)*py*r01*r02*(sj0*sj0)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.2855113344)*px*py*r00*r02*sj0))+(((-0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.2855113344)*cj0*px*pz*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.10964716)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*r00*r02*(py*py)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.2855113344)*r01*r02*sj0*(px*px)))+(((-0.21929432)*cj0*px*pz*r01*r02*sj0))+(((-0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.00287196062498456)*px*r00*r02*(cj0*cj0)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((-0.2855113344)*cj0*py*pz*r00*r01))+(((-0.2855113344)*py*pz*sj0*(r01*r01)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.00287196062498456)*pz*(cj0*cj0)*(r00*r00)))+(((0.00845398067495455)*py*sj0*(r02*r02)))+(((-0.10964716)*(py*py)*(r02*r02)))+(((0.0014596053192864)*cj0*r00*r02))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.21929432)*py*pz*r01*r02))+(((0.386)*py*r01*r02*(px*px)))+(((-0.00316350520504545)*cj0*px*(r00*r00)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((-0.00316350520504545)*cj0*py*r00*r01))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00112108738742)*cj0*r00*r01*sj0))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((0.386)*px*r00*r02*(py*py)))+(((0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((0.00107469637501544)*pz*(r02*r02)))+(((-0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((-0.2855113344)*cj0*px*pz*(r02*r02)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.00107469637501544)*px*r00*r02))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((-0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((0.21929432)*px*pz*r00*r02))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*py*pz*r00*r02*sj0))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-0.00056054369371)*(r02*r02)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.2855113344)*py*pz*sj0*(r02*r02)))+(((-0.00574392124996912)*cj0*pz*r00*r01*sj0))); -op[4]=((((-0.386)*pz*r01*r02*sj0*(px*px)))+(((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((0.193)*sj0*(py*py*py)*(r02*r02)))+(((0.19114141719984)*py*pz*r01*r02*(sj0*sj0)))+(((0.00143598031249228)*cj0*px*(r02*r02)))+(((-1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((0.386)*cj0*px*py*pz*r01*r02))+(((0.193)*py*sj0*(px*px)*(r02*r02)))+(((-0.00422699033747728)*cj0*px*r01*r02*sj0))+(((0.00422699033747728)*pz*(cj0*cj0)*(r00*r00)))+(((1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((-0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.15024341719984)*py*pz*r01*r02))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.0019733285)*pz*r01*r02*sj0))+(((-1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((0.01113674999984)*px*py*r00*r01*(sj0*sj0)))+(((-0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.00556837499992)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((-0.0019733285)*cj0*pz*r00*r02))+(((-7.75170003456103e-6)*(cj0*cj0)*(r00*r00)))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.00053734818750772)*px*r00*r01*sj0))+(((-0.00556837499992)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.55034000691221e-5)*cj0*r00*r01*sj0))+(((-0.56812)*pz*(px*px)*(r02*r02)))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((-1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((0.193)*cj0*px*(py*py)*(r02*r02)))+(((-0.00053734818750772)*py*sj0*(r01*r01)))+(((0.00422699033747728)*pz*(r01*r01)*(sj0*sj0)))+(((-0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((1.13624)*pz*(py*py)*(r01*r01)))+(((0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((-0.09557070859992)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.579)*px*r00*r01*sj0*(py*py)))+(((0.19114141719984)*cj0*py*pz*r00*r02*sj0))+(((0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-0.00931224999984)*(py*py)*(r01*r01)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-0.09557070859992)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((0.00143598031249228)*py*sj0*(r02*r02)))+(((-0.386)*cj0*pz*r00*r02*(py*py)))+(((0.00845398067495455)*cj0*pz*r00*r01*sj0))+(((0.386)*py*sj0*(px*px)*(r00*r00)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((-0.00422699033747728)*px*r00*r02*(cj0*cj0)))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-0.19114141719984)*cj0*r00*r01*sj0*(pz*pz)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*px*r00*r02*(py*py)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.01113674999984)*cj0*px*py*sj0*(r00*r00)))+(((0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.00556837499992)*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.193)*px*r00*r01*sj0*(pz*pz)))+(((-0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((0.386)*px*py*pz*r00*r02*sj0))+(((0.06580945860008)*(py*py)*(r02*r02)))+(((1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-0.00053734818750772)*cj0*py*r00*r01))+(((-0.00931224999984)*(px*px)*(r00*r00)))+(((0.19114141719984)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((0.00556837499992)*(cj0*cj0)*(px*px)*(r00*r00)))+(((2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((-0.00158175260252272)*pz*(r02*r02)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((0.000280271846855)*r01*r02*sj0))+(((-1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.56812)*r00*r02*(px*px*px)))+(((0.19114141719984)*px*pz*r00*r02*(cj0*cj0)))+(((-0.56812)*py*r01*r02*(px*px)))+(((1.70436)*px*r00*r02*(pz*pz)))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((-0.00422699033747728)*cj0*py*r00*r02*sj0))+(((0.386)*cj0*px*(py*py)*(r01*r01)))+(((0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((-1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((-0.07512170859992)*(pz*pz)*(r02*r02)))+(((1.70436)*py*r01*r02*(pz*pz)))+(((0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.000357149629787039)*(r02*r02)))+(((0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.193)*sj0*(py*py*py)*(r01*r01)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((0.01113674999984)*cj0*px*py*sj0*(r01*r01)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-0.193)*py*sj0*(px*px)*(r01*r01)))+(((-0.193)*cj0*r00*r01*(py*py*py)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((0.193)*cj0*(px*px*px)*(r02*r02)))+(((-0.56812)*pz*(py*py)*(r02*r02)))+(((0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((0.01113674999984)*px*py*r00*r01*(cj0*cj0)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((-0.00158175260252272)*py*r01*r02))+(((0.000280271846855)*cj0*r00*r02))+(((0.06580945860008)*(px*px)*(r02*r02)))+(((0.193)*cj0*(px*px*px)*(r00*r00)))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((1.13624)*pz*(px*px)*(r00*r00)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.579)*cj0*py*r00*r01*(px*px)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.00053734818750772)*cj0*px*(r00*r00)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((-0.01862449999968)*px*py*r00*r01))+(((1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.193)*cj0*py*r00*r01*(pz*pz)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((2.27248)*px*py*pz*r00*r01))+(((-0.00422699033747728)*py*r01*r02*(sj0*sj0)))+(((-0.15024341719984)*px*pz*r00*r02))+(((-0.193)*r00*r01*sj0*(px*px*px)))+(((1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((-0.00158175260252272)*px*r00*r02))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((-7.75170003456103e-6)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))); -polyroots4(op,zeror,numroots); -IkReal j1array[4], cj1array[4], sj1array[4], tempj1array[1]; -int numsolutions = 0; -for(int ij1 = 0; ij1 < numroots; ++ij1) -{ -IkReal htj1 = zeror[ij1]; -tempj1array[0]=((2.0)*(atan(htj1))); -for(int kj1 = 0; kj1 < 1; ++kj1) -{ -j1array[numsolutions] = tempj1array[kj1]; -if( j1array[numsolutions] > IKPI ) -{ - j1array[numsolutions]-=IK2PI; -} -else if( j1array[numsolutions] < -IKPI ) -{ - j1array[numsolutions]+=IK2PI; -} -sj1array[numsolutions] = IKsin(j1array[numsolutions]); -cj1array[numsolutions] = IKcos(j1array[numsolutions]); -numsolutions++; -} -} -bool j1valid[4]={true,true,true,true}; -_nj1 = 4; -for(int ij1 = 0; ij1 < numsolutions; ++ij1) - { -if( !j1valid[ij1] ) -{ - continue; -} - j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1]; -htj1 = IKtan(j1/2); - -_ij1[0] = ij1; _ij1[1] = -1; -for(int iij1 = ij1+1; iij1 < numsolutions; ++iij1) -{ -if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH ) -{ - j1valid[iij1]=false; _ij1[1] = iij1; break; -} -} -{ -IkReal j4array[2], cj4array[2], sj4array[2]; -bool j4valid[2]={false}; -_nj4 = 2; -sj4array[0]=(((r00*sj0))+(((-1.0)*cj0*r01))); -if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH ) -{ - j4valid[0] = j4valid[1] = true; - j4array[0] = IKasin(sj4array[0]); - cj4array[0] = IKcos(j4array[0]); - sj4array[1] = sj4array[0]; - j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]); - cj4array[1] = -cj4array[0]; -} -else if( isnan(sj4array[0]) ) -{ - // probably any value will work - j4valid[0] = true; - cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0; -} -for(int ij4 = 0; ij4 < 2; ++ij4) -{ -if( !j4valid[ij4] ) -{ - continue; -} -_ij4[0] = ij4; _ij4[1] = -1; -for(int iij4 = ij4+1; iij4 < 2; ++iij4) -{ -if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH ) -{ - j4valid[iij4]=false; _ij4[1] = iij4; break; -} -} -j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4]; - -{ -IkReal j3eval[2]; -j3eval[0]=cj4; -j3eval[1]=IKsign(cj4); -if( IKabs(j3eval[0]) < 0.0000010000000000 || IKabs(j3eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal evalcond[1]; -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j3array[2], cj3array[2], sj3array[2]; -bool j3valid[2]={false}; -_nj3 = 2; -IkReal x35=(cj0*px); -IkReal x36=((4.75128617069989)*cj1); -IkReal x37=((13.9860139860001)*sj1); -IkReal x38=(py*sj0); -if( (((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))) > 1+IKFAST_SINCOS_THRESH ) - continue; -IkReal x39=IKasin(((0.137082606897156)+((x35*x37))+((x35*x36))+((x37*x38))+((x36*x38))+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+(((13.9860139860001)*cj1*pz))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1)))); -j3array[0]=((-1.5707977349481)+(((-1.0)*x39))); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -j3array[1]=((1.57079491864169)+x39); -sj3array[1]=IKsin(j3array[1]); -cj3array[1]=IKcos(j3array[1]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -if( j3array[1] > IKPI ) -{ - j3array[1]-=IK2PI; -} -else if( j3array[1] < -IKPI ) -{ j3array[1]+=IK2PI; -} -j3valid[1] = true; -for(int ij3 = 0; ij3 < 2; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 2; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[1]; -IkReal x40=py*py; -IkReal x41=pz*pz; -IkReal x42=px*px; -IkReal x43=(px*sj0); -IkReal x44=((2.0)*py); -IkReal x45=(cj0*py); -IkReal x46=((0.0965)*r01); -IkReal x47=(cj0*pz); -IkReal x48=((0.28406)*cj1); -IkReal x49=(py*r00); -IkReal x50=((0.28406)*sj1); -IkReal x51=(r00*sj0); -IkReal x52=(cj0*r01); -IkReal x53=((0.0965)*r02*sj1); -IkReal x54=((1.0)*x52); -evalcond[0]=((-0.02528477090004)+(((0.0965)*pz*sj1*x51))+(((2.86e-8)*(IKsin(j3))))+(((-1.0)*x41*x54))+(((-2.0)*pz*r02*x43))+(((-1.0)*x42*x54))+(((-0.02031029)*(IKcos(j3))))+((cj0*px*r00*x44))+(((-1.0)*x49*x50))+(((-1.0)*x42*x51))+((x45*x53))+((r02*x44*x47))+(((-1.0)*pz*x48*x51))+(((-0.0225005834)*x52))+(((-1.0)*sj1*x46*x47))+(((-1.0)*r02*x45*x48))+((cj1*px*x46))+(((0.0225005834)*x51))+((x40*x52))+((x40*x51))+((px*r01*x50))+((x41*x51))+((r01*x47*x48))+(((-1.0)*r01*x43*x44))+(((-0.0965)*cj1*x49))+(((-1.0)*x43*x53))+((r02*x43*x48))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -sj4=1.0; -cj4=0; -j4=1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x55=((2.0e-7)*pz); -IkReal x56=((0.14203)*sj1); -IkReal x57=(py*sj0); -IkReal x58=(cj1*pz); -IkReal x59=((0.0715)*sj3); -IkReal x60=(cj0*px); -IkReal x61=((2.0e-7)*sj1); -IkReal x62=((0.14203)*cj1); -IkReal x63=((0.0715)*cj3); -IkReal x64=(pz*sj1); -IkReal x65=((2.0e-7)*cj1); -IkReal x66=((0.0715)*sj1*x60); -CheckValue x67=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x67.valid){ -continue; -} -CheckValue x68 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x55))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((x58*x63))+((sj1*x60*x63))+(((-1.0)*x59*x64))+((cj1*x59*x60))+((x56*x60))+((cj1*x57*x59))+(((0.14203)*x58))+((x56*x57))+(((-1.0)*x57*x65))+((sj1*x57*x63))+(((-1.0)*x60*x65)))),IkReal(((0.006852975906)+(((0.003449875)*cj3))+((sj1*x59*x60))+((x58*x59))+(((-1.0)*cj1*x57*x63))+((x63*x64))+((sj1*x57*x59))+((pz*x56))+(((-0.010155145)*sj3))+(((-1.0)*cj1*x60*x63))+(((-1.0)*x57*x62))+(((-1.0)*x57*x61))+(((-1.0)*x60*x61))+(((-1.0)*x60*x62))+(((-1.0)*cj1*x55)))),IKFAST_ATAN2_MAGTHRESH); -if(!x68.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x67.value)))+(x68.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x69=IKsin(j2); -IkReal x70=IKcos(j2); -IkReal x71=(px*sj1); -IkReal x72=(py*sj1); -IkReal x73=(cj1*sj0); -IkReal x74=((1.0)*px); -IkReal x75=(pz*r00); -IkReal x76=((1.0)*r01); -IkReal x77=(cj0*r01); -IkReal x78=(pz*sj1); -IkReal x79=(r00*sj0); -IkReal x80=(cj0*cj1); -IkReal x81=((0.14203)*x69); -IkReal x82=((2.0e-7)*x70); -IkReal x83=((2.0e-7)*x69); -IkReal x84=((0.14203)*x70); -IkReal x85=((0.0715)*x69); -IkReal x86=((0.0715)*x70); -IkReal x87=(sj3*x86); -IkReal x88=(cj3*x85); -IkReal x89=(sj3*x85); -IkReal x90=(cj3*x86); -IkReal x91=(x83+x84+x90); -IkReal x92=(x88+x81+x87); -evalcond[0]=((-0.14203)+((cj0*x71))+((cj1*pz))+x92+((sj0*x72))+(((-1.0)*x82))); -evalcond[1]=((0.04825)+x78+x91+(((-1.0)*x74*x80))+(((-1.0)*x89))+(((-1.0)*py*x73))); -evalcond[2]=((((-1.0)*r02*x73*x74))+(((-1.0)*pz*x76*x80))+x92+(((-1.0)*x71*x76))+(((-0.14203)*x79))+((x73*x75))+((py*r02*x80))+(((-1.0)*x82))+(((0.14203)*x77))+((r00*x72))); -evalcond[3]=((((-1.0)*cj1*r01*x74))+(((-0.04825)*x79))+((cj1*py*r00))+x89+(((-1.0)*sj0*sj1*x75))+((r02*sj0*x71))+(((-1.0)*x91))+(((-1.0)*cj0*r02*x72))+((x77*x78))+(((0.04825)*x77))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j3array[2], cj3array[2], sj3array[2]; -bool j3valid[2]={false}; -_nj3 = 2; -IkReal x93=(cj0*px); -IkReal x94=((4.75128617069989)*cj1); -IkReal x95=((13.9860139860001)*sj1); -IkReal x96=(py*sj0); -if( (((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))) > 1+IKFAST_SINCOS_THRESH ) - continue; -IkReal x97=IKasin(((0.137082606897156)+(((-49.2361261212424)*(py*py)))+(((-49.2361261212424)*(px*px)))+((x93*x94))+((x93*x95))+(((13.9860139860001)*cj1*pz))+((x95*x96))+(((-49.2361261212424)*(pz*pz)))+(((-4.75128617069989)*pz*sj1))+((x94*x96)))); -j3array[0]=((-1.5707977349481)+(((-1.0)*x97))); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -j3array[1]=((1.57079491864169)+x97); -sj3array[1]=IKsin(j3array[1]); -cj3array[1]=IKcos(j3array[1]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -if( j3array[1] > IKPI ) -{ - j3array[1]-=IK2PI; -} -else if( j3array[1] < -IKPI ) -{ j3array[1]+=IK2PI; -} -j3valid[1] = true; -for(int ij3 = 0; ij3 < 2; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 2; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[1]; -IkReal x98=py*py; -IkReal x99=pz*pz; -IkReal x100=px*px; -IkReal x101=(px*sj0); -IkReal x102=((2.0)*py); -IkReal x103=(cj0*py); -IkReal x104=((0.0965)*r01); -IkReal x105=(cj0*pz); -IkReal x106=((0.28406)*cj1); -IkReal x107=(py*r00); -IkReal x108=((0.28406)*sj1); -IkReal x109=(r00*sj0); -IkReal x110=(cj0*r01); -IkReal x111=((0.0965)*r02*sj1); -IkReal x112=((1.0)*x110); -evalcond[0]=((0.02528477090004)+(((-1.0)*pz*x106*x109))+(((-0.0965)*cj1*x107))+(((-0.0225005834)*x110))+(((0.0965)*pz*sj1*x109))+(((-1.0)*x100*x112))+(((-2.86e-8)*(IKsin(j3))))+(((-1.0)*x101*x111))+(((-1.0)*x107*x108))+((px*r01*x108))+((x103*x111))+(((-1.0)*x112*x99))+(((-1.0)*r01*x101*x102))+((cj1*px*x104))+(((-1.0)*sj1*x104*x105))+((r01*x105*x106))+(((-1.0)*r02*x103*x106))+(((-2.0)*pz*r02*x101))+((cj0*px*r00*x102))+((r02*x101*x106))+((x109*x99))+((x109*x98))+(((-1.0)*x100*x109))+(((0.02031029)*(IKcos(j3))))+((r02*x102*x105))+(((0.0225005834)*x109))+((x110*x98))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -sj4=-1.0; -cj4=0; -j4=-1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x113=((2.0e-7)*pz); -IkReal x114=((0.14203)*sj1); -IkReal x115=(py*sj0); -IkReal x116=(cj1*pz); -IkReal x117=((0.0715)*sj3); -IkReal x118=(cj0*px); -IkReal x119=((2.0e-7)*sj1); -IkReal x120=((0.14203)*cj1); -IkReal x121=((0.0715)*cj3); -IkReal x122=(pz*sj1); -IkReal x123=((2.0e-7)*cj1); -IkReal x124=((0.0715)*sj1*x118); -CheckValue x125=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x125.valid){ -continue; -} -CheckValue x126 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x113))+(((-1.0)*x118*x123))+(((-0.003449875)*sj3))+((x114*x115))+((x114*x118))+(((-0.010155145)*cj3))+(((-1.0)*x115*x123))+((sj1*x118*x121))+(((0.14203)*x116))+(((-1.0)*x117*x122))+((sj1*x115*x121))+((x116*x121))+((cj1*x117*x118))+((cj1*x115*x117)))),IkReal(((0.006852975906)+(((-1.0)*x118*x120))+(((-1.0)*cj1*x113))+((x121*x122))+(((0.003449875)*cj3))+(((-1.0)*x118*x119))+((pz*x114))+(((-1.0)*x115*x120))+(((-1.0)*x115*x119))+(((-1.0)*cj1*x118*x121))+((sj1*x117*x118))+(((-1.0)*cj1*x115*x121))+((sj1*x115*x117))+((x116*x117))+(((-0.010155145)*sj3)))),IKFAST_ATAN2_MAGTHRESH); -if(!x126.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x125.value)))+(x126.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x127=IKsin(j2); -IkReal x128=IKcos(j2); -IkReal x129=(px*sj1); -IkReal x130=(py*sj1); -IkReal x131=(cj1*sj0); -IkReal x132=((1.0)*px); -IkReal x133=(pz*r00); -IkReal x134=((1.0)*r01); -IkReal x135=(cj0*r01); -IkReal x136=(pz*sj1); -IkReal x137=(r00*sj0); -IkReal x138=(cj0*cj1); -IkReal x139=((2.0e-7)*x128); -IkReal x140=((0.14203)*x127); -IkReal x141=((2.0e-7)*x127); -IkReal x142=((0.14203)*x128); -IkReal x143=((0.0715)*x127); -IkReal x144=((0.0715)*x128); -IkReal x145=(sj3*x144); -IkReal x146=(cj3*x143); -IkReal x147=(cj3*x144); -IkReal x148=(sj3*x143); -IkReal x149=(x141+x142+x147); -IkReal x150=(x140+x145+x146); -evalcond[0]=((-0.14203)+((cj0*x129))+x150+((cj1*pz))+(((-1.0)*x139))+((sj0*x130))); -evalcond[1]=((0.04825)+(((-1.0)*x148))+x149+x136+(((-1.0)*x132*x138))+(((-1.0)*py*x131))); -evalcond[2]=((((-1.0)*x150))+(((-1.0)*r02*x131*x132))+((py*r02*x138))+(((0.14203)*x135))+((r00*x130))+x139+((x131*x133))+(((-1.0)*pz*x134*x138))+(((-1.0)*x129*x134))+(((-0.14203)*x137))); -evalcond[3]=((((-1.0)*x148))+((x135*x136))+(((-0.04825)*x137))+((cj1*py*r00))+x149+((r02*sj0*x129))+(((-1.0)*cj1*r01*x132))+(((-1.0)*cj0*r02*x130))+(((0.04825)*x135))+(((-1.0)*sj0*sj1*x133))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -if( 1 ) -{ -bgotonextstatement=false; -continue; // branch miss [j2, j3] - -} -} while(0); -if( bgotonextstatement ) -{ -} -} -} -} - -} else -{ -{ -IkReal j3array[1], cj3array[1], sj3array[1]; -bool j3valid[1]={false}; -_nj3 = 1; -IkReal x151=(r01*sj0); -IkReal x152=((171324397650.0)*sj1); -IkReal x153=((504312781250.0)*cj1); -IkReal x154=((171324397650.0)*cj1); -IkReal x155=(cj0*r00); -IkReal x156=((3550750000000.0)*r02); -IkReal x157=(py*sj0); -IkReal x158=(py*r01); -IkReal x159=((504312781250.0)*sj1); -IkReal x160=(px*r00); -IkReal x161=((5000000.0)*pz); -IkReal x162=(cj0*px); -IkReal x163=((3550750000000.0)*pz); -IkReal x164=((5000000.0)*r02); -CheckValue x165=IKPowWithIntegerCheck(IKsign(cj4),-1); -if(!x165.valid){ -continue; -} -CheckValue x166 = IKatan2WithCheck(IkReal(((((-1.0)*x153*x155))+(((-1.0)*r02*x161))+((x151*x163))+(((-1.0)*x151*x153))+((x152*x155))+(((357500.0)*cj4))+(((-5000000.0)*x160))+((x151*x152))+(((-5000000.0)*x158))+((x155*x163))+(((-1.0)*x156*x157))+((r02*x154))+((r02*x159))+(((-1.0)*x156*x162)))),IkReal(((((-1.0)*x157*x164))+(((-1.0)*x154*x155))+(((3550750000000.0)*x160))+((x151*x161))+(((-1.0)*x151*x159))+(((-1.0)*x151*x154))+(((-253878625000.0)*cj4))+(((3550750000000.0)*x158))+(((-1.0)*r02*x153))+(((-1.0)*x162*x164))+((x155*x161))+(((-1.0)*x155*x159))+((r02*x152))+((pz*x156)))),IKFAST_ATAN2_MAGTHRESH); -if(!x166.valid){ -continue; -} -j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x165.value)))+(x166.value)); -sj3array[0]=IKsin(j3array[0]); -cj3array[0]=IKcos(j3array[0]); -if( j3array[0] > IKPI ) -{ - j3array[0]-=IK2PI; -} -else if( j3array[0] < -IKPI ) -{ j3array[0]+=IK2PI; -} -j3valid[0] = true; -for(int ij3 = 0; ij3 < 1; ++ij3) -{ -if( !j3valid[ij3] ) -{ - continue; -} -_ij3[0] = ij3; _ij3[1] = -1; -for(int iij3 = ij3+1; iij3 < 1; ++iij3) -{ -if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) -{ - j3valid[iij3]=false; _ij3[1] = iij3; break; -} -} -j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; -{ -IkReal evalcond[4]; -IkReal x167=IKcos(j3); -IkReal x168=IKsin(j3); -IkReal x169=pz*pz; -IkReal x170=py*py; -IkReal x171=px*px; -IkReal x172=(r01*sj0); -IkReal x173=(cj0*px); -IkReal x174=((0.28406)*sj1); -IkReal x175=((0.14203)*sj1); -IkReal x176=((1.0)*r02); -IkReal x177=((0.0965)*sj1); -IkReal x178=(py*sj0); -IkReal x179=((0.0965)*cj1); -IkReal x180=(cj0*r00); -IkReal x181=(cj1*r02); -IkReal x182=(cj0*py); -IkReal x183=((0.28406)*cj1); -IkReal x184=(py*r00); -IkReal x185=(r00*sj0); -IkReal x186=((0.04825)*sj1); -IkReal x187=((0.04825)*cj1); -IkReal x188=(px*sj0); -IkReal x189=(cj0*r01); -IkReal x190=(px*r01); -IkReal x191=((0.14203)*cj1); -IkReal x192=((2.0)*px*py); -IkReal x193=((2.86e-8)*x168); -IkReal x194=(pz*x189); -IkReal x195=((0.02031029)*x167); -IkReal x196=(cj4*x168); -IkReal x197=((2.0)*pz*r02); -IkReal x198=((1.0)*x171); -IkReal x199=(cj4*x167); -IkReal x200=((1.0)*x169); -evalcond[0]=((0.00278418750004)+((pz*x183))+((x178*x179))+(((-1.0)*x193))+(((-1.0)*x198))+(((-1.0)*pz*x177))+((x173*x174))+((x173*x179))+(((-1.0)*x170))+x195+(((-1.0)*x200))+((x174*x178))); -evalcond[1]=(((x180*x187))+((x172*x187))+(((-1.0)*px*r00))+(((0.14203)*x181))+(((-1.0)*pz*x176))+((x172*x175))+(((-1.0)*r02*x186))+(((0.14203)*x199))+((x175*x180))+(((-2.0e-7)*x196))+(((0.0715)*cj4))+(((-1.0)*py*r01))); -evalcond[2]=(((pz*x172))+((pz*x180))+((x180*x186))+((x172*x186))+(((-1.0)*x180*x191))+(((-0.14203)*x196))+(((-2.0e-7)*x199))+(((0.04825)*x181))+(((-1.0)*x176*x178))+(((-1.0)*x172*x191))+(((-1.0)*x173*x176))+((r02*x175))); -evalcond[3]=((((-1.0)*pz*x183*x185))+(((0.28406)*x181*x188))+((x169*x185))+(((-1.0)*x188*x197))+(((-1.0)*x189*x200))+((r02*x177*x182))+((x179*x190))+(((-1.0)*x189*x198))+(((2.0)*x173*x184))+(((-0.28406)*x181*x182))+((x174*x190))+(((-1.0)*r02*x177*x188))+((sj4*x193))+(((-1.0)*x177*x194))+(((0.0225005834)*x185))+(((-1.0)*x185*x198))+(((-0.0225005834)*x189))+(((-1.0)*x172*x192))+((x170*x189))+((x170*x185))+(((-1.0)*x179*x184))+((x182*x197))+((pz*x177*x185))+(((-1.0)*sj4*x195))+(((-1.0)*x174*x184))+((x183*x194))+(((-0.02528477090004)*sj4))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -IkReal j2eval[2]; -j2eval[0]=cj4; -j2eval[1]=IKsign(cj4); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal j2eval[2]; -IkReal x201=(cj4*sj3); -IkReal x202=(cj3*cj4); -j2eval[0]=((((-1.0)*x202))+(((-710150.0)*x201))); -j2eval[1]=IKsign(((((-0.14203)*x201))+(((-2.0e-7)*x202)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal j2eval[2]; -IkReal x203=(cj3*cj4); -IkReal x204=(cj4*sj3); -j2eval[0]=((((357500.0)*cj4))+(((710150.0)*x203))+(((-1.0)*x204))); -j2eval[1]=IKsign(((((0.0715)*cj4))+(((-2.0e-7)*x204))+(((0.14203)*x203)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -{ -IkReal evalcond[1]; -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j2eval[2]; -sj4=1.0; -cj4=0; -j4=1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x205=((2.0e-7)*pz); -IkReal x206=((0.14203)*sj1); -IkReal x207=(py*sj0); -IkReal x208=(cj1*pz); -IkReal x209=((0.0715)*sj3); -IkReal x210=(cj0*px); -IkReal x211=((2.0e-7)*sj1); -IkReal x212=((0.14203)*cj1); -IkReal x213=((0.0715)*cj3); -IkReal x214=(pz*sj1); -IkReal x215=((2.0e-7)*cj1); -IkReal x216=((0.0715)*sj1*x210); -CheckValue x217=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x217.valid){ -continue; -} -CheckValue x218 = IKatan2WithCheck(IkReal(((-0.02017251125)+((sj1*x205))+((x206*x210))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((sj1*x207*x213))+((x208*x213))+(((-1.0)*x207*x215))+(((-1.0)*x210*x215))+((cj1*x209*x210))+((sj1*x210*x213))+((cj1*x207*x209))+(((-1.0)*x209*x214))+((x206*x207))+(((0.14203)*x208)))),IkReal(((0.006852975906)+(((-1.0)*cj1*x205))+(((-1.0)*cj1*x207*x213))+(((0.003449875)*cj3))+((x213*x214))+(((-1.0)*x207*x211))+(((-1.0)*x207*x212))+(((-1.0)*cj1*x210*x213))+((pz*x206))+(((-1.0)*x210*x211))+(((-1.0)*x210*x212))+((sj1*x209*x210))+(((-0.010155145)*sj3))+((x208*x209))+((sj1*x207*x209)))),IKFAST_ATAN2_MAGTHRESH); -if(!x218.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x217.value)))+(x218.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x219=IKsin(j2); -IkReal x220=IKcos(j2); -IkReal x221=(px*sj1); -IkReal x222=(py*sj1); -IkReal x223=(cj1*sj0); -IkReal x224=((1.0)*px); -IkReal x225=(pz*r00); -IkReal x226=((1.0)*r01); -IkReal x227=(cj0*r01); -IkReal x228=(pz*sj1); -IkReal x229=(r00*sj0); -IkReal x230=(cj0*cj1); -IkReal x231=((0.14203)*x219); -IkReal x232=((2.0e-7)*x220); -IkReal x233=((2.0e-7)*x219); -IkReal x234=((0.14203)*x220); -IkReal x235=((0.0715)*x219); -IkReal x236=((0.0715)*x220); -IkReal x237=(sj3*x236); -IkReal x238=(cj3*x235); -IkReal x239=(sj3*x235); -IkReal x240=(cj3*x236); -IkReal x241=(x233+x234+x240); -IkReal x242=(x238+x231+x237); -evalcond[0]=((-0.14203)+((sj0*x222))+((cj1*pz))+(((-1.0)*x232))+((cj0*x221))+x242); -evalcond[1]=((0.04825)+(((-1.0)*x224*x230))+(((-1.0)*x239))+x228+x241+(((-1.0)*py*x223))); -evalcond[2]=((((-0.14203)*x229))+((r00*x222))+((x223*x225))+(((-1.0)*x232))+x242+(((0.14203)*x227))+(((-1.0)*r02*x223*x224))+(((-1.0)*x221*x226))+(((-1.0)*pz*x226*x230))+((py*r02*x230))); -evalcond[3]=((((0.04825)*x227))+((x227*x228))+(((-1.0)*cj1*r01*x224))+((cj1*py*r00))+x239+((r02*sj0*x221))+(((-1.0)*sj0*sj1*x225))+(((-1.0)*x241))+(((-1.0)*cj0*r02*x222))+(((-0.04825)*x229))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); -if( IKabs(evalcond[0]) < 0.0000050000000000 ) -{ -bgotonextstatement=false; -{ -IkReal j2eval[2]; -sj4=-1.0; -cj4=0; -j4=-1.5707963267949; -j2eval[0]=((-884082.898602797)+sj3+(((-710150.0)*cj3))); -j2eval[1]=IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))); -if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) -{ -continue; // no branches [j2] - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x243=((2.0e-7)*pz); -IkReal x244=((0.14203)*sj1); -IkReal x245=(py*sj0); -IkReal x246=(cj1*pz); -IkReal x247=((0.0715)*sj3); -IkReal x248=(cj0*px); -IkReal x249=((2.0e-7)*sj1); -IkReal x250=((0.14203)*cj1); -IkReal x251=((0.0715)*cj3); -IkReal x252=(pz*sj1); -IkReal x253=((2.0e-7)*cj1); -IkReal x254=((0.0715)*sj1*x248); -CheckValue x255=IKPowWithIntegerCheck(IKsign(((-0.02528477090004)+(((-0.02031029)*cj3))+(((2.86e-8)*sj3)))),-1); -if(!x255.valid){ -continue; -} -CheckValue x256 = IKatan2WithCheck(IkReal(((-0.02017251125)+((x246*x251))+((cj1*x245*x247))+((cj1*x247*x248))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((x244*x245))+((x244*x248))+(((-1.0)*x247*x252))+(((-1.0)*x248*x253))+(((-1.0)*x245*x253))+((sj1*x248*x251))+((sj1*x245*x251))+(((0.14203)*x246))+((sj1*x243)))),IkReal(((0.006852975906)+(((-1.0)*x248*x249))+(((0.003449875)*cj3))+(((-1.0)*cj1*x245*x251))+(((-1.0)*cj1*x243))+((x251*x252))+((sj1*x247*x248))+(((-1.0)*x248*x250))+(((-1.0)*x245*x250))+((sj1*x245*x247))+(((-1.0)*x245*x249))+(((-1.0)*cj1*x248*x251))+(((-0.010155145)*sj3))+((pz*x244))+((x246*x247)))),IKFAST_ATAN2_MAGTHRESH); -if(!x256.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x255.value)))+(x256.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[4]; -IkReal x257=IKsin(j2); -IkReal x258=IKcos(j2); -IkReal x259=(px*sj1); -IkReal x260=(py*sj1); -IkReal x261=(cj1*sj0); -IkReal x262=((1.0)*px); -IkReal x263=(pz*r00); -IkReal x264=((1.0)*r01); -IkReal x265=(cj0*r01); -IkReal x266=(pz*sj1); -IkReal x267=(r00*sj0); -IkReal x268=(cj0*cj1); -IkReal x269=((2.0e-7)*x258); -IkReal x270=((0.14203)*x257); -IkReal x271=((2.0e-7)*x257); -IkReal x272=((0.14203)*x258); -IkReal x273=((0.0715)*x257); -IkReal x274=((0.0715)*x258); -IkReal x275=(sj3*x274); -IkReal x276=(cj3*x273); -IkReal x277=(cj3*x274); -IkReal x278=(sj3*x273); -IkReal x279=(x277+x272+x271); -IkReal x280=(x276+x275+x270); -evalcond[0]=((-0.14203)+((cj1*pz))+x280+((cj0*x259))+(((-1.0)*x269))+((sj0*x260))); -evalcond[1]=((0.04825)+(((-1.0)*x262*x268))+(((-1.0)*py*x261))+x266+x279+(((-1.0)*x278))); -evalcond[2]=((((-1.0)*r02*x261*x262))+(((-1.0)*x259*x264))+(((-1.0)*pz*x264*x268))+x269+((py*r02*x268))+(((-0.14203)*x267))+((r00*x260))+(((-1.0)*x280))+((x261*x263))+(((0.14203)*x265))); -evalcond[3]=((((-1.0)*sj0*sj1*x263))+(((-0.04825)*x267))+((cj1*py*r00))+x279+(((-1.0)*cj1*r01*x262))+(((0.04825)*x265))+(((-1.0)*cj0*r02*x260))+((r02*sj0*x259))+(((-1.0)*x278))+((x265*x266))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} -} while(0); -if( bgotonextstatement ) -{ -bool bgotonextstatement = true; -do -{ -if( 1 ) -{ -bgotonextstatement=false; -continue; // branch miss [j2] - -} -} while(0); -if( bgotonextstatement ) -{ -} -} -} -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x281=((0.04825)*cj4); -IkReal x282=((0.0715)*cj3); -IkReal x283=((0.0715)*sj3); -IkReal x284=(cj1*r02); -IkReal x285=(cj4*sj3); -IkReal x286=(cj3*cj4); -IkReal x287=(pz*sj1); -IkReal x288=(r01*sj0*sj1); -IkReal x289=(cj0*r00*sj1); -IkReal x290=(cj0*cj1*px); -IkReal x291=(cj1*py*sj0); -CheckValue x292 = IKatan2WithCheck(IkReal((((x285*x287))+((sj3*x281))+(((-1.0)*x282*x284))+(((-1.0)*x282*x288))+(((-1.0)*x282*x289))+(((-0.14203)*x289))+(((-0.14203)*x288))+(((-0.14203)*x284))+(((-1.0)*x285*x290))+(((-1.0)*x285*x291)))),IkReal(((((-1.0)*cj3*x281))+((x286*x290))+((x286*x291))+(((2.0e-7)*x288))+(((2.0e-7)*x289))+(((2.0e-7)*x284))+(((-1.0)*x286*x287))+(((-1.0)*x283*x284))+(((-1.0)*x283*x288))+(((-1.0)*x283*x289)))),IKFAST_ATAN2_MAGTHRESH); -if(!x292.valid){ -continue; -} -CheckValue x293=IKPowWithIntegerCheck(IKsign(((((-2.0e-7)*x285))+(((0.0715)*cj4))+(((0.14203)*x286)))),-1); -if(!x293.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(x292.value)+(((1.5707963267949)*(x293.value)))); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x294=IKcos(j2); -IkReal x295=IKsin(j2); -IkReal x296=py*py; -IkReal x297=px*px; -IkReal x298=pz*pz; -IkReal x299=(r01*sj0); -IkReal x300=(py*sj1); -IkReal x301=((1.0)*cj1); -IkReal x302=((0.0715)*sj4); -IkReal x303=((5.6812e-8)*cj4); -IkReal x304=((1.0)*sj1); -IkReal x305=(cj0*r00); -IkReal x306=((0.02528477089996)*cj4); -IkReal x307=(py*sj0); -IkReal x308=((0.0965)*r02); -IkReal x309=((2.0)*pz); -IkReal x310=(cj0*sj1); -IkReal x311=(pz*r01); -IkReal x312=(px*r01); -IkReal x313=((0.28406)*r02); -IkReal x314=(cj1*r02); -IkReal x315=((0.01506027089996)*sj3); -IkReal x316=(cj0*py); -IkReal x317=(r02*sj1); -IkReal x318=(px*sj0); -IkReal x319=((0.0178444584)*sj1); -IkReal x320=((0.013705895)*sj1); -IkReal x321=(cj1*py); -IkReal x322=((0.0965)*pz); -IkReal x323=((0.013705895)*cj1); -IkReal x324=((0.0178444584)*cj1); -IkReal x325=(px*r00); -IkReal x326=(py*r01); -IkReal x327=(r00*sj0); -IkReal x328=((0.28406)*pz); -IkReal x329=(cj0*r01); -IkReal x330=(cj3*x295); -IkReal x331=(cj0*px*r02); -IkReal x332=(pz*x327); -IkReal x333=(cj3*x294); -IkReal x334=((0.14203)*x295); -IkReal x335=(cj4*x294); -IkReal x336=(cj1*x325); -IkReal x337=((2.0e-7)*x295); -IkReal x338=(sj3*x294); -IkReal x339=((2.0e-7)*x294); -IkReal x340=(sj3*x295); -IkReal x341=(cj4*x295); -IkReal x342=(sj1*x298); -IkReal x343=((0.14203)*x294); -IkReal x344=(r02*x298); -evalcond[0]=(((sj3*x335))+((sj1*x299))+x314+((cj4*x330))+((sj1*x305))); -evalcond[1]=((((-1.0)*x301*x305))+x317+(((-1.0)*x299*x301))+((cj4*x333))+(((-1.0)*cj4*x340))); -evalcond[2]=((-0.14203)+(((0.0715)*x338))+(((0.0715)*x330))+((cj1*pz))+x334+(((-1.0)*x339))+((px*x310))+((sj0*x300))); -evalcond[3]=((0.04825)+(((-1.0)*x301*x307))+(((0.0715)*x333))+(((-1.0)*cj0*px*x301))+x337+x343+(((-0.0715)*x340))+((pz*sj1))); -evalcond[4]=((((-1.0)*r02*x301*x318))+(((-1.0)*sj4*x339))+(((-1.0)*cj0*x301*x311))+((cj1*x332))+((x302*x330))+((x302*x338))+((sj4*x334))+(((-1.0)*x304*x312))+(((-0.14203)*x327))+((x314*x316))+((r00*x300))+(((0.14203)*x329))); -evalcond[5]=(((x317*x318))+((x310*x311))+(((-1.0)*sj4*x337))+(((-0.04825)*x327))+((r00*x321))+((x302*x340))+(((-1.0)*x302*x333))+(((-1.0)*cj0*r02*x300))+(((-1.0)*x304*x332))+(((-1.0)*sj4*x343))+(((-1.0)*x301*x312))+(((0.04825)*x329))); -evalcond[6]=((((-2.86e-8)*x341))+(((-1.0)*x299*x324))+((x297*x317))+(((0.013705895)*x314))+((x296*x317))+(((-1.0)*x298*x299*x301))+((x305*x320))+((x305*x328))+(((-1.0)*x315*x341))+(((2.0)*cj1*x312*x316))+(((-1.0)*x303*x330))+((x303*x338))+((x307*x309*x314))+(((-0.02031029)*x335))+((cj1*x296*x299))+(((-0.0965)*x326))+(((-0.0965)*x325))+(((-1.0)*x304*x344))+(((2.0)*x307*x336))+(((-1.0)*pz*x308))+((cj1*x297*x305))+(((-1.0)*x306*x333))+(((-1.0)*r01*x300*x309))+(((-1.0)*x296*x301*x305))+(((-1.0)*x298*x301*x305))+(((0.0178444584)*x317))+(((-1.0)*x307*x313))+((x299*x328))+((x299*x320))+(((-1.0)*cj0*px*x313))+(((-1.0)*x297*x299*x301))+((cj0*px*x309*x314))+(((-1.0)*sj1*x309*x325))+(((-1.0)*x305*x324))); -evalcond[7]=((((-1.0)*x296*x299*x304))+(((-2.0)*r00*x300*x318))+(((-1.0)*x299*x323))+((x297*x314))+(((-0.0178444584)*x314))+(((0.013705895)*x317))+(((-1.0)*r02*sj0*x300*x309))+((x296*x314))+((x305*x322))+(((-1.0)*px*r02*x309*x310))+(((-1.0)*x301*x344))+(((2.86e-8)*x335))+(((-1.0)*r01*x309*x321))+((x305*x342))+((sj1*x297*x299))+(((-1.0)*cj0*px*x308))+((x299*x342))+((x303*x333))+(((-1.0)*x305*x319))+((sj1*x296*x305))+(((-1.0)*x299*x319))+((x315*x335))+(((-1.0)*x306*x330))+((pz*x313))+(((-0.02031029)*x341))+(((-1.0)*x307*x308))+((x299*x322))+((x303*x340))+(((-1.0)*x309*x336))+(((-1.0)*x305*x323))+(((-2.0)*cj0*x300*x312))+(((0.28406)*x325))+(((0.28406)*x326))+(((-1.0)*x297*x304*x305))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x345=((0.0715)*cj3); -IkReal x346=((0.0715)*sj3); -IkReal x347=(cj0*sj1); -IkReal x348=(cj1*r02); -IkReal x349=(cj4*sj3); -IkReal x350=(cj1*pz); -IkReal x351=(cj3*cj4); -IkReal x352=((0.14203)*x349); -IkReal x353=(r01*sj0*sj1); -IkReal x354=((1.0)*x351); -IkReal x355=(py*sj0*sj1); -CheckValue x356=IKPowWithIntegerCheck(IKsign(((((-2.0e-7)*x351))+(((-1.0)*x352)))),-1); -if(!x356.valid){ -continue; -} -CheckValue x357 = IKatan2WithCheck(IkReal(((((2.0e-7)*r00*x347))+(((-1.0)*x352))+(((-1.0)*x346*x353))+(((-1.0)*r00*x346*x347))+((x349*x350))+((x349*x355))+(((-1.0)*x346*x348))+((px*x347*x349))+(((2.0e-7)*x348))+(((2.0e-7)*x353)))),IkReal((((r00*x345*x347))+((x345*x353))+((x345*x348))+(((-1.0)*px*x347*x354))+(((0.14203)*r00*x347))+(((-1.0)*x354*x355))+(((0.14203)*x348))+(((0.14203)*x353))+(((0.14203)*x351))+(((-1.0)*x350*x354)))),IKFAST_ATAN2_MAGTHRESH); -if(!x357.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x356.value)))+(x357.value)); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x358=IKcos(j2); -IkReal x359=IKsin(j2); -IkReal x360=py*py; -IkReal x361=px*px; -IkReal x362=pz*pz; -IkReal x363=(r01*sj0); -IkReal x364=(py*sj1); -IkReal x365=((1.0)*cj1); -IkReal x366=((0.0715)*sj4); -IkReal x367=((5.6812e-8)*cj4); -IkReal x368=((1.0)*sj1); -IkReal x369=(cj0*r00); -IkReal x370=((0.02528477089996)*cj4); -IkReal x371=(py*sj0); -IkReal x372=((0.0965)*r02); -IkReal x373=((2.0)*pz); -IkReal x374=(cj0*sj1); -IkReal x375=(pz*r01); -IkReal x376=(px*r01); -IkReal x377=((0.28406)*r02); -IkReal x378=(cj1*r02); -IkReal x379=((0.01506027089996)*sj3); -IkReal x380=(cj0*py); -IkReal x381=(r02*sj1); -IkReal x382=(px*sj0); -IkReal x383=((0.0178444584)*sj1); -IkReal x384=((0.013705895)*sj1); -IkReal x385=(cj1*py); -IkReal x386=((0.0965)*pz); -IkReal x387=((0.013705895)*cj1); -IkReal x388=((0.0178444584)*cj1); -IkReal x389=(px*r00); -IkReal x390=(py*r01); -IkReal x391=(r00*sj0); -IkReal x392=((0.28406)*pz); -IkReal x393=(cj0*r01); -IkReal x394=(cj3*x359); -IkReal x395=(cj0*px*r02); -IkReal x396=(pz*x391); -IkReal x397=(cj3*x358); -IkReal x398=((0.14203)*x359); -IkReal x399=(cj4*x358); -IkReal x400=(cj1*x389); -IkReal x401=((2.0e-7)*x359); -IkReal x402=(sj3*x358); -IkReal x403=((2.0e-7)*x358); -IkReal x404=(sj3*x359); -IkReal x405=(cj4*x359); -IkReal x406=(sj1*x362); -IkReal x407=((0.14203)*x358); -IkReal x408=(r02*x362); -evalcond[0]=(((sj1*x363))+((sj1*x369))+((cj4*x394))+x378+((sj3*x399))); -evalcond[1]=((((-1.0)*x363*x365))+((cj4*x397))+x381+(((-1.0)*cj4*x404))+(((-1.0)*x365*x369))); -evalcond[2]=((-0.14203)+(((0.0715)*x402))+((sj0*x364))+((cj1*pz))+((px*x374))+x398+(((0.0715)*x394))+(((-1.0)*x403))); -evalcond[3]=((0.04825)+(((-0.0715)*x404))+(((-1.0)*cj0*px*x365))+x401+x407+((pz*sj1))+(((0.0715)*x397))+(((-1.0)*x365*x371))); -evalcond[4]=(((x378*x380))+(((-1.0)*x368*x376))+(((-1.0)*cj0*x365*x375))+((r00*x364))+((x366*x394))+(((-1.0)*sj4*x403))+((x366*x402))+(((0.14203)*x393))+(((-0.14203)*x391))+(((-1.0)*r02*x365*x382))+((cj1*x396))+((sj4*x398))); -evalcond[5]=((((-1.0)*x368*x396))+(((0.04825)*x393))+(((-1.0)*sj4*x407))+(((-1.0)*sj4*x401))+(((-1.0)*x366*x397))+((x366*x404))+(((-1.0)*cj0*r02*x364))+((x374*x375))+((r00*x385))+((x381*x382))+(((-0.04825)*x391))+(((-1.0)*x365*x376))); -evalcond[6]=((((-0.0965)*x390))+((cj0*px*x373*x378))+(((-1.0)*x368*x408))+(((-1.0)*x369*x388))+(((-1.0)*cj0*px*x377))+(((-2.86e-8)*x405))+((x361*x381))+(((-1.0)*x370*x397))+((x369*x392))+((x363*x384))+(((-1.0)*x379*x405))+(((2.0)*cj1*x376*x380))+((x360*x381))+(((0.0178444584)*x381))+(((0.013705895)*x378))+((x367*x402))+(((-0.0965)*x389))+(((-1.0)*x362*x363*x365))+(((2.0)*x371*x400))+(((-1.0)*x361*x363*x365))+(((-1.0)*sj1*x373*x389))+(((-1.0)*x363*x388))+(((-1.0)*x371*x377))+(((-1.0)*x367*x394))+(((-1.0)*pz*x372))+(((-1.0)*x362*x365*x369))+((x363*x392))+((x371*x373*x378))+((x369*x384))+(((-1.0)*r01*x364*x373))+(((-1.0)*x360*x365*x369))+((cj1*x360*x363))+(((-0.02031029)*x399))+((cj1*x361*x369))); -evalcond[7]=((((-1.0)*x373*x400))+((x367*x397))+((x379*x399))+(((0.013705895)*x381))+(((-1.0)*r01*x373*x385))+(((-1.0)*x369*x383))+(((-1.0)*x369*x387))+(((-1.0)*cj0*px*x372))+((x363*x406))+(((-1.0)*x370*x394))+(((-1.0)*x365*x408))+(((-0.0178444584)*x378))+((x363*x386))+(((-2.0)*cj0*x364*x376))+(((-1.0)*r02*sj0*x364*x373))+((x367*x404))+(((0.28406)*x389))+(((-0.02031029)*x405))+(((-1.0)*px*r02*x373*x374))+((pz*x377))+(((-1.0)*x361*x368*x369))+(((-2.0)*r00*x364*x382))+(((-1.0)*x363*x383))+(((-1.0)*x363*x387))+(((-1.0)*x371*x372))+(((-1.0)*x360*x363*x368))+((sj1*x361*x363))+((x369*x406))+((x360*x378))+((sj1*x360*x369))+(((2.86e-8)*x399))+((x369*x386))+(((0.28406)*x390))+((x361*x378))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} - -} else -{ -{ -IkReal j2array[1], cj2array[1], sj2array[1]; -bool j2valid[1]={false}; -_nj2 = 1; -IkReal x409=((1.0)*sj1); -IkReal x410=((1.0)*sj3); -IkReal x411=(cj3*r02); -IkReal x412=(r01*sj0); -IkReal x413=(cj0*r00); -IkReal x414=(cj3*x412); -IkReal x415=(cj1*x413); -CheckValue x416 = IKatan2WithCheck(IkReal(((((-1.0)*cj3*x409*x413))+(((-1.0)*cj1*x411))+(((-1.0)*cj1*x410*x412))+(((-1.0)*x410*x415))+((r02*sj1*sj3))+(((-1.0)*x409*x414)))),IkReal(((((-1.0)*sj3*x409*x412))+(((-1.0)*sj3*x409*x413))+(((-1.0)*cj1*r02*x410))+((cj1*x414))+((cj3*x415))+(((-1.0)*x409*x411)))),IKFAST_ATAN2_MAGTHRESH); -if(!x416.valid){ -continue; -} -CheckValue x417=IKPowWithIntegerCheck(IKsign(cj4),-1); -if(!x417.valid){ -continue; -} -j2array[0]=((-1.5707963267949)+(x416.value)+(((1.5707963267949)*(x417.value)))); -sj2array[0]=IKsin(j2array[0]); -cj2array[0]=IKcos(j2array[0]); -if( j2array[0] > IKPI ) -{ - j2array[0]-=IK2PI; -} -else if( j2array[0] < -IKPI ) -{ j2array[0]+=IK2PI; -} -j2valid[0] = true; -for(int ij2 = 0; ij2 < 1; ++ij2) -{ -if( !j2valid[ij2] ) -{ - continue; -} -_ij2[0] = ij2; _ij2[1] = -1; -for(int iij2 = ij2+1; iij2 < 1; ++iij2) -{ -if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) -{ - j2valid[iij2]=false; _ij2[1] = iij2; break; -} -} -j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; -{ -IkReal evalcond[8]; -IkReal x418=IKcos(j2); -IkReal x419=IKsin(j2); -IkReal x420=py*py; -IkReal x421=px*px; -IkReal x422=pz*pz; -IkReal x423=(r01*sj0); -IkReal x424=(py*sj1); -IkReal x425=((1.0)*cj1); -IkReal x426=((0.0715)*sj4); -IkReal x427=((5.6812e-8)*cj4); -IkReal x428=((1.0)*sj1); -IkReal x429=(cj0*r00); -IkReal x430=((0.02528477089996)*cj4); -IkReal x431=(py*sj0); -IkReal x432=((0.0965)*r02); -IkReal x433=((2.0)*pz); -IkReal x434=(cj0*sj1); -IkReal x435=(pz*r01); -IkReal x436=(px*r01); -IkReal x437=((0.28406)*r02); -IkReal x438=(cj1*r02); -IkReal x439=((0.01506027089996)*sj3); -IkReal x440=(cj0*py); -IkReal x441=(r02*sj1); -IkReal x442=(px*sj0); -IkReal x443=((0.0178444584)*sj1); -IkReal x444=((0.013705895)*sj1); -IkReal x445=(cj1*py); -IkReal x446=((0.0965)*pz); -IkReal x447=((0.013705895)*cj1); -IkReal x448=((0.0178444584)*cj1); -IkReal x449=(px*r00); -IkReal x450=(py*r01); -IkReal x451=(r00*sj0); -IkReal x452=((0.28406)*pz); -IkReal x453=(cj0*r01); -IkReal x454=(cj3*x419); -IkReal x455=(cj0*px*r02); -IkReal x456=(pz*x451); -IkReal x457=(cj3*x418); -IkReal x458=((0.14203)*x419); -IkReal x459=(cj4*x418); -IkReal x460=(cj1*x449); -IkReal x461=((2.0e-7)*x419); -IkReal x462=(sj3*x418); -IkReal x463=((2.0e-7)*x418); -IkReal x464=(sj3*x419); -IkReal x465=(cj4*x419); -IkReal x466=(sj1*x422); -IkReal x467=((0.14203)*x418); -IkReal x468=(r02*x422); -evalcond[0]=(((sj3*x459))+((cj4*x454))+x438+((sj1*x423))+((sj1*x429))); -evalcond[1]=(((cj4*x457))+(((-1.0)*cj4*x464))+x441+(((-1.0)*x425*x429))+(((-1.0)*x423*x425))); -evalcond[2]=((-0.14203)+((px*x434))+(((-1.0)*x463))+((cj1*pz))+x458+(((0.0715)*x454))+(((0.0715)*x462))+((sj0*x424))); -evalcond[3]=((0.04825)+(((-0.0715)*x464))+x461+x467+(((-1.0)*x425*x431))+((pz*sj1))+(((-1.0)*cj0*px*x425))+(((0.0715)*x457))); -evalcond[4]=((((-1.0)*sj4*x463))+((cj1*x456))+((x426*x454))+((x426*x462))+(((0.14203)*x453))+(((-1.0)*cj0*x425*x435))+((sj4*x458))+((r00*x424))+(((-1.0)*r02*x425*x442))+((x438*x440))+(((-1.0)*x428*x436))+(((-0.14203)*x451))); -evalcond[5]=((((-0.04825)*x451))+(((-1.0)*cj0*r02*x424))+(((-1.0)*sj4*x467))+(((-1.0)*sj4*x461))+((x434*x435))+(((0.04825)*x453))+(((-1.0)*x428*x456))+((x426*x464))+((x441*x442))+((r00*x445))+(((-1.0)*x425*x436))+(((-1.0)*x426*x457))); -evalcond[6]=(((x423*x452))+((x421*x441))+(((2.0)*cj1*x436*x440))+((x431*x433*x438))+(((-1.0)*x431*x437))+(((-1.0)*x439*x465))+(((-1.0)*x422*x423*x425))+(((-1.0)*r01*x424*x433))+(((-0.02031029)*x459))+(((-1.0)*x420*x425*x429))+(((0.013705895)*x438))+(((-1.0)*x429*x448))+((x429*x452))+(((-1.0)*x428*x468))+(((-0.0965)*x450))+(((-0.0965)*x449))+(((-1.0)*x421*x423*x425))+(((-1.0)*x422*x425*x429))+((cj0*px*x433*x438))+((x423*x444))+(((-1.0)*pz*x432))+(((0.0178444584)*x441))+((x427*x462))+((cj1*x420*x423))+(((-1.0)*x430*x457))+(((-1.0)*x423*x448))+((cj1*x421*x429))+(((-1.0)*sj1*x433*x449))+(((-2.86e-8)*x465))+((x429*x444))+(((2.0)*x431*x460))+(((-1.0)*x427*x454))+((x420*x441))+(((-1.0)*cj0*px*x437))); -evalcond[7]=((((-1.0)*r01*x433*x445))+((sj1*x420*x429))+((x421*x438))+((x423*x466))+(((-1.0)*px*r02*x433*x434))+((sj1*x421*x423))+(((-2.0)*r00*x424*x442))+(((-1.0)*x431*x432))+(((-2.0)*cj0*x424*x436))+(((0.28406)*x450))+(((-0.0178444584)*x438))+((pz*x437))+(((-0.02031029)*x465))+((x429*x466))+(((-1.0)*x429*x447))+(((-1.0)*x429*x443))+(((0.013705895)*x441))+(((-1.0)*x421*x428*x429))+(((-1.0)*x433*x460))+((x423*x446))+(((2.86e-8)*x459))+(((0.28406)*x449))+(((-1.0)*x420*x423*x428))+((x427*x464))+((x427*x457))+((x439*x459))+(((-1.0)*x425*x468))+(((-1.0)*x430*x454))+(((-1.0)*x423*x447))+(((-1.0)*x423*x443))+((x420*x438))+(((-1.0)*r02*sj0*x424*x433))+((x429*x446))+(((-1.0)*cj0*px*x432))); -if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) -{ -continue; -} -} - -{ -std::vector > vinfos(5); -vinfos[0].jointtype = 1; -vinfos[0].foffset = j0; -vinfos[0].indices[0] = _ij0[0]; -vinfos[0].indices[1] = _ij0[1]; -vinfos[0].maxsolutions = _nj0; -vinfos[1].jointtype = 1; -vinfos[1].foffset = j1; -vinfos[1].indices[0] = _ij1[0]; -vinfos[1].indices[1] = _ij1[1]; -vinfos[1].maxsolutions = _nj1; -vinfos[2].jointtype = 1; -vinfos[2].foffset = j2; -vinfos[2].indices[0] = _ij2[0]; -vinfos[2].indices[1] = _ij2[1]; -vinfos[2].maxsolutions = _nj2; -vinfos[3].jointtype = 1; -vinfos[3].foffset = j3; -vinfos[3].indices[0] = _ij3[0]; -vinfos[3].indices[1] = _ij3[1]; -vinfos[3].maxsolutions = _nj3; -vinfos[4].jointtype = 1; -vinfos[4].foffset = j4; -vinfos[4].indices[0] = _ij4[0]; -vinfos[4].indices[1] = _ij4[1]; -vinfos[4].maxsolutions = _nj4; -std::vector vfree(0); -solutions.AddSolution(vinfos,vfree); -} -} -} - -} - -} -} -} - -} - -} -} -} - } -} -} - -} - -} -} -return solutions.GetNumSolutions()>0; -} -static inline void polyroots3(IkReal rawcoeffs[3+1], IkReal rawroots[3], int& numroots) -{ - using std::complex; - if( rawcoeffs[0] == 0 ) { - // solve with one reduced degree - polyroots2(&rawcoeffs[1], &rawroots[0], numroots); - return; - } - IKFAST_ASSERT(rawcoeffs[0] != 0); - const IkReal tol = 128.0*std::numeric_limits::epsilon(); - const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); - complex coeffs[3]; - const int maxsteps = 110; - for(int i = 0; i < 3; ++i) { - coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); - } - complex roots[3]; - IkReal err[3]; - roots[0] = complex(1,0); - roots[1] = complex(0.4,0.9); // any complex number not a root of unity works - err[0] = 1.0; - err[1] = 1.0; - for(int i = 2; i < 3; ++i) { - roots[i] = roots[i-1]*roots[1]; - err[i] = 1.0; - } - for(int step = 0; step < maxsteps; ++step) { - bool changed = false; - for(int i = 0; i < 3; ++i) { - if ( err[i] >= tol ) { - changed = true; - // evaluate - complex x = roots[i] + coeffs[0]; - for(int j = 1; j < 3; ++j) { - x = roots[i] * x + coeffs[j]; - } - for(int j = 0; j < 3; ++j) { - if( i != j ) { - if( roots[i] != roots[j] ) { - x /= (roots[i] - roots[j]); - } - } - } - roots[i] -= x; - err[i] = abs(x); - } - } - if( !changed ) { - break; - } - } - - numroots = 0; - bool visited[3] = {false}; - for(int i = 0; i < 3; ++i) { - if( !visited[i] ) { - // might be a multiple root, in which case it will have more error than the other roots - // find any neighboring roots, and take the average - complex newroot=roots[i]; - int n = 1; - for(int j = i+1; j < 3; ++j) { - // care about error in real much more than imaginary - if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { - newroot += roots[j]; - n += 1; - visited[j] = true; - } - } - if( n > 1 ) { - newroot /= n; - } - // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt - if( IKabs(imag(newroot)) < tolsqrt ) { - rawroots[numroots++] = real(newroot); - } - } - } -} -static inline void polyroots2(IkReal rawcoeffs[2+1], IkReal rawroots[2], int& numroots) { - IkReal det = rawcoeffs[1]*rawcoeffs[1]-4*rawcoeffs[0]*rawcoeffs[2]; - if( det < 0 ) { - numroots=0; - } - else if( det == 0 ) { - rawroots[0] = -0.5*rawcoeffs[1]/rawcoeffs[0]; - numroots = 1; - } - else { - det = IKsqrt(det); - rawroots[0] = (-rawcoeffs[1]+det)/(2*rawcoeffs[0]); - rawroots[1] = (-rawcoeffs[1]-det)/(2*rawcoeffs[0]);//rawcoeffs[2]/(rawcoeffs[0]*rawroots[0]); - numroots = 2; - } -} -static inline void polyroots4(IkReal rawcoeffs[4+1], IkReal rawroots[4], int& numroots) -{ - using std::complex; - if( rawcoeffs[0] == 0 ) { - // solve with one reduced degree - polyroots3(&rawcoeffs[1], &rawroots[0], numroots); - return; - } - IKFAST_ASSERT(rawcoeffs[0] != 0); - const IkReal tol = 128.0*std::numeric_limits::epsilon(); - const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); - complex coeffs[4]; - const int maxsteps = 110; - for(int i = 0; i < 4; ++i) { - coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); - } - complex roots[4]; - IkReal err[4]; - roots[0] = complex(1,0); - roots[1] = complex(0.4,0.9); // any complex number not a root of unity works - err[0] = 1.0; - err[1] = 1.0; - for(int i = 2; i < 4; ++i) { - roots[i] = roots[i-1]*roots[1]; - err[i] = 1.0; - } - for(int step = 0; step < maxsteps; ++step) { - bool changed = false; - for(int i = 0; i < 4; ++i) { - if ( err[i] >= tol ) { - changed = true; - // evaluate - complex x = roots[i] + coeffs[0]; - for(int j = 1; j < 4; ++j) { - x = roots[i] * x + coeffs[j]; - } - for(int j = 0; j < 4; ++j) { - if( i != j ) { - if( roots[i] != roots[j] ) { - x /= (roots[i] - roots[j]); - } - } - } - roots[i] -= x; - err[i] = abs(x); - } - } - if( !changed ) { - break; - } - } - - numroots = 0; - bool visited[4] = {false}; - for(int i = 0; i < 4; ++i) { - if( !visited[i] ) { - // might be a multiple root, in which case it will have more error than the other roots - // find any neighboring roots, and take the average - complex newroot=roots[i]; - int n = 1; - for(int j = i+1; j < 4; ++j) { - // care about error in real much more than imaginary - if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { - newroot += roots[j]; - n += 1; - visited[j] = true; - } - } - if( n > 1 ) { - newroot /= n; - } - // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt - if( IKabs(imag(newroot)) < tolsqrt ) { - rawroots[numroots++] = real(newroot); - } - } - } -} -}; - - -/// solves the inverse kinematics equations. -/// \param pfree is an array specifying the free joints of the chain. -IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { -IKSolver solver; -return solver.ComputeIk(eetrans,eerot,pfree,solutions); -} - -IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions, void* pOpenRAVEManip) { -IKSolver solver; -return solver.ComputeIk(eetrans,eerot,pfree,solutions); -} - -IKFAST_API const char* GetKinematicsHash() { return ""; } - -IKFAST_API const char* GetIkFastVersion() { return "0x10000049"; } - -#ifdef IKFAST_NAMESPACE -} // end namespace -#endif - -#ifndef IKFAST_NO_MAIN -#include -#include -#ifdef IKFAST_NAMESPACE -using namespace IKFAST_NAMESPACE; -#endif -int main(int argc, char** argv) -{ - if( argc != 12+GetNumFreeParameters()+1 ) { - printf("\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n" - "Returns the ik solutions given the transformation of the end effector specified by\n" - "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n" - "There are %d free parameters that have to be specified.\n\n",GetNumFreeParameters()); - return 1; - } - - IkSolutionList solutions; - std::vector vfree(GetNumFreeParameters()); - IkReal eerot[9],eetrans[3]; - eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]); - eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]); - eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]); - for(std::size_t i = 0; i < vfree.size(); ++i) - vfree[i] = atof(argv[13+i]); - bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions); - - if( !bSuccess ) { - fprintf(stderr,"Failed to get ik solution\n"); - return -1; - } - - printf("Found %d ik solutions:\n", (int)solutions.GetNumSolutions()); - std::vector solvalues(GetNumJoints()); - for(std::size_t i = 0; i < solutions.GetNumSolutions(); ++i) { - const IkSolutionBase& sol = solutions.GetSolution(i); - printf("sol%d (free=%d): ", (int)i, (int)sol.GetFree().size()); - std::vector vsolfree(sol.GetFree().size()); - sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL); - for( std::size_t j = 0; j < solvalues.size(); ++j) - printf("%.15f, ", solvalues[j]); - printf("\n"); - } - return 0; -} - -#endif diff --git a/widowx_arm_ikfast_plugin/widowx_arm_moveit_ikfast_plugin_description.xml b/widowx_arm_ikfast_plugin/widowx_arm_moveit_ikfast_plugin_description.xml deleted file mode 100644 index 1c9fa79..0000000 --- a/widowx_arm_ikfast_plugin/widowx_arm_moveit_ikfast_plugin_description.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - IKFast61 plugin for closed-form kinematics - - diff --git a/widowx_arm_moveit_config/config/kinematics.yaml b/widowx_arm_moveit_config/config/kinematics.yaml index db7fc85..a2f1d0b 100644 --- a/widowx_arm_moveit_config/config/kinematics.yaml +++ b/widowx_arm_moveit_config/config/kinematics.yaml @@ -1,5 +1,4 @@ widowx_arm: - kinematics_solver: widowx_arm_kinematics/IKFastKinematicsPlugin + kinematics_solver: widowx_arm_widowx_arm/IKFastKinematicsPlugin kinematics_solver_search_resolution: 0.005 - kinematics_solver_timeout: 0.005 - kinematics_solver_attempts: 3 \ No newline at end of file + kinematics_solver_timeout: 0.05 diff --git a/widowx_arm_widowx_arm_ikfast_plugin/CMakeLists.txt b/widowx_arm_widowx_arm_ikfast_plugin/CMakeLists.txt new file mode 100644 index 0000000..e17bb45 --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.8.12) +project(widowx_arm_widowx_arm_ikfast_plugin) + +add_compile_options(-std=c++14) + +find_package(catkin REQUIRED COMPONENTS + moveit_core + pluginlib + roscpp + tf2_kdl + tf2_eigen + eigen_conversions +) +find_package(LAPACK REQUIRED) + +include_directories(${catkin_INCLUDE_DIRS} include) + +catkin_package() + +set(IKFAST_LIBRARY_NAME widowx_arm_widowx_arm_moveit_ikfast_plugin) +add_library(${IKFAST_LIBRARY_NAME} src/widowx_arm_widowx_arm_ikfast_moveit_plugin.cpp) +target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES}) +# suppress warnings about unused variables in OpenRave's solver code +target_compile_options(${IKFAST_LIBRARY_NAME} PRIVATE -Wno-unused-variable) + +install(TARGETS + ${IKFAST_LIBRARY_NAME} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +install( + FILES + widowx_arm_widowx_arm_moveit_ikfast_plugin_description.xml + DESTINATION + ${CATKIN_PACKAGE_SHARE_DESTINATION} +) diff --git a/widowx_arm_widowx_arm_ikfast_plugin/include/ikfast.h b/widowx_arm_widowx_arm_ikfast_plugin/include/ikfast.h new file mode 100644 index 0000000..e672c97 --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/include/ikfast.h @@ -0,0 +1,378 @@ +// -*- coding: utf-8 -*- +// Copyright (C) 2012 Rosen Diankov +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. +/** \brief Header file for all ikfast c++ files/shared objects. + + The ikfast inverse kinematics compiler is part of OpenRAVE. + + The file is divided into two sections: + - Common - the abstract classes section that all ikfast share regardless of their settings + - Library Specific - the library-specific definitions, which depends on the precision/settings that the + library was compiled with + + The defines are as follows, they are also used for the ikfast C++ class: + + - IKFAST_HEADER_COMMON - common classes + - IKFAST_HAS_LIBRARY - if defined, will include library-specific functions. by default this is off + - IKFAST_CLIBRARY - Define this linking statically or dynamically to get correct visibility. + - IKFAST_NO_MAIN - Remove the ``main`` function, usually used with IKFAST_CLIBRARY + - IKFAST_ASSERT - Define in order to get a custom assert called when NaNs, divides by zero, and other invalid + conditions are detected. + - IKFAST_REAL - Use to force a custom real number type for IkReal. + - IKFAST_NAMESPACE - Enclose all functions and classes in this namespace, the ``main`` function is excluded. + + */ +#include +#include +#include + +#ifndef IKFAST_HEADER_COMMON +#define IKFAST_HEADER_COMMON + +/// should be the same as ikfast.__version__ +#define IKFAST_VERSION 61 + +namespace ikfast +{ +/// \brief holds the solution for a single dof +template +class IkSingleDOFSolutionBase +{ +public: + IkSingleDOFSolutionBase() : fmul(0), foffset(0), freeind(-1), maxsolutions(1) + { + indices[0] = indices[1] = indices[2] = indices[3] = indices[4] = -1; + } + T fmul, foffset; ///< joint value is fmul*sol[freeind]+foffset + signed char freeind; ///< if >= 0, mimics another joint + unsigned char jointtype; ///< joint type, 0x01 is revolute, 0x11 is slider + unsigned char maxsolutions; ///< max possible indices, 0 if controlled by free index or a free joint itself + unsigned char indices[5]; ///< unique index of the solution used to keep track on what part it came from. sometimes a + /// solution can be repeated for different indices. store at least another repeated root +}; + +/// \brief The discrete solutions are returned in this structure. +/// +/// Sometimes the joint axes of the robot can align allowing an infinite number of solutions. +/// Stores all these solutions in the form of free variables that the user has to set when querying the solution. Its +/// prototype is: +template +class IkSolutionBase +{ +public: + virtual ~IkSolutionBase() + { + } + /// \brief gets a concrete solution + /// + /// \param[out] solution the result + /// \param[in] freevalues values for the free parameters \se GetFree + virtual void GetSolution(T* solution, const T* freevalues) const = 0; + + /// \brief std::vector version of \ref GetSolution + virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const + { + solution.resize(GetDOF()); + GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); + } + + /// \brief Gets the indices of the configuration space that have to be preset before a full solution can be returned + /// + /// \return vector of indices indicating the free parameters + virtual const std::vector& GetFree() const = 0; + + /// \brief the dof of the solution + virtual int GetDOF() const = 0; +}; + +/// \brief manages all the solutions +template +class IkSolutionListBase +{ +public: + virtual ~IkSolutionListBase() + { + } + + /// \brief add one solution and return its index for later retrieval + /// + /// \param vinfos Solution data for each degree of freedom of the manipulator + /// \param vfree If the solution represents an infinite space, holds free parameters of the solution that users can + /// freely set. + virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) = 0; + + /// \brief returns the solution pointer + virtual const IkSolutionBase& GetSolution(size_t index) const = 0; + + /// \brief returns the number of solutions stored + virtual size_t GetNumSolutions() const = 0; + + /// \brief clears all current solutions, note that any memory addresses returned from \ref GetSolution will be + /// invalidated. + virtual void Clear() = 0; +}; + +/// \brief holds function pointers for all the exported functions of ikfast +template +class IkFastFunctions +{ +public: + IkFastFunctions() + : _ComputeIk(NULL) + , _ComputeFk(NULL) + , _GetNumFreeParameters(NULL) + , _GetFreeParameters(NULL) + , _GetNumJoints(NULL) + , _GetIkRealSize(NULL) + , _GetIkFastVersion(NULL) + , _GetIkType(NULL) + , _GetKinematicsHash(NULL) + { + } + virtual ~IkFastFunctions() + { + } + typedef bool (*ComputeIkFn)(const T*, const T*, const T*, IkSolutionListBase&); + ComputeIkFn _ComputeIk; + typedef void (*ComputeFkFn)(const T*, T*, T*); + ComputeFkFn _ComputeFk; + typedef int (*GetNumFreeParametersFn)(); + GetNumFreeParametersFn _GetNumFreeParameters; + typedef int* (*GetFreeParametersFn)(); + GetFreeParametersFn _GetFreeParameters; + typedef int (*GetNumJointsFn)(); + GetNumJointsFn _GetNumJoints; + typedef int (*GetIkRealSizeFn)(); + GetIkRealSizeFn _GetIkRealSize; + typedef const char* (*GetIkFastVersionFn)(); + GetIkFastVersionFn _GetIkFastVersion; + typedef int (*GetIkTypeFn)(); + GetIkTypeFn _GetIkType; + typedef const char* (*GetKinematicsHashFn)(); + GetKinematicsHashFn _GetKinematicsHash; +}; + +// Implementations of the abstract classes, user doesn't need to use them + +/// \brief Default implementation of \ref IkSolutionBase +template +class IkSolution : public IkSolutionBase +{ +public: + IkSolution(const std::vector >& vinfos, const std::vector& vfree) + { + _vbasesol = vinfos; + _vfree = vfree; + } + + virtual void GetSolution(T* solution, const T* freevalues) const + { + for (std::size_t i = 0; i < _vbasesol.size(); ++i) + { + if (_vbasesol[i].freeind < 0) + solution[i] = _vbasesol[i].foffset; + else + { + solution[i] = freevalues[_vbasesol[i].freeind] * _vbasesol[i].fmul + _vbasesol[i].foffset; + if (solution[i] > T(3.14159265358979)) + { + solution[i] -= T(6.28318530717959); + } + else if (solution[i] < T(-3.14159265358979)) + { + solution[i] += T(6.28318530717959); + } + } + } + } + + virtual void GetSolution(std::vector& solution, const std::vector& freevalues) const + { + solution.resize(GetDOF()); + GetSolution(&solution.at(0), freevalues.size() > 0 ? &freevalues.at(0) : NULL); + } + + virtual const std::vector& GetFree() const + { + return _vfree; + } + virtual int GetDOF() const + { + return static_cast(_vbasesol.size()); + } + + virtual void Validate() const + { + for (size_t i = 0; i < _vbasesol.size(); ++i) + { + if (_vbasesol[i].maxsolutions == (unsigned char)-1) + { + throw std::runtime_error("max solutions for joint not initialized"); + } + if (_vbasesol[i].maxsolutions > 0) + { + if (_vbasesol[i].indices[0] >= _vbasesol[i].maxsolutions) + { + throw std::runtime_error("index >= max solutions for joint"); + } + if (_vbasesol[i].indices[1] != (unsigned char)-1 && _vbasesol[i].indices[1] >= _vbasesol[i].maxsolutions) + { + throw std::runtime_error("2nd index >= max solutions for joint"); + } + } + } + } + + virtual void GetSolutionIndices(std::vector& v) const + { + v.resize(0); + v.push_back(0); + for (int i = (int)_vbasesol.size() - 1; i >= 0; --i) + { + if (_vbasesol[i].maxsolutions != (unsigned char)-1 && _vbasesol[i].maxsolutions > 1) + { + for (size_t j = 0; j < v.size(); ++j) + { + v[j] *= _vbasesol[i].maxsolutions; + } + size_t orgsize = v.size(); + if (_vbasesol[i].indices[1] != (unsigned char)-1) + { + for (size_t j = 0; j < orgsize; ++j) + { + v.push_back(v[j] + _vbasesol[i].indices[1]); + } + } + if (_vbasesol[i].indices[0] != (unsigned char)-1) + { + for (size_t j = 0; j < orgsize; ++j) + { + v[j] += _vbasesol[i].indices[0]; + } + } + } + } + } + + std::vector > _vbasesol; ///< solution and their offsets if joints are mimiced + std::vector _vfree; +}; + +/// \brief Default implementation of \ref IkSolutionListBase +template +class IkSolutionList : public IkSolutionListBase +{ +public: + virtual size_t AddSolution(const std::vector >& vinfos, const std::vector& vfree) + { + size_t index = _listsolutions.size(); + _listsolutions.push_back(IkSolution(vinfos, vfree)); + return index; + } + + virtual const IkSolutionBase& GetSolution(size_t index) const + { + if (index >= _listsolutions.size()) + { + throw std::runtime_error("GetSolution index is invalid"); + } + typename std::list >::const_iterator it = _listsolutions.begin(); + std::advance(it, index); + return *it; + } + + virtual size_t GetNumSolutions() const + { + return _listsolutions.size(); + } + + virtual void Clear() + { + _listsolutions.clear(); + } + +protected: + std::list > _listsolutions; +}; +} + +#endif // OPENRAVE_IKFAST_HEADER + +// The following code is dependent on the C++ library linking with. +#ifdef IKFAST_HAS_LIBRARY + +// defined when creating a shared object/dll +#ifdef IKFAST_CLIBRARY +#ifdef _MSC_VER +#define IKFAST_API extern "C" __declspec(dllexport) +#else +#define IKFAST_API extern "C" +#endif +#else +#define IKFAST_API +#endif + +#ifdef IKFAST_NAMESPACE +namespace IKFAST_NAMESPACE +{ +#endif + +#ifdef IKFAST_REAL +typedef IKFAST_REAL IkReal; +#else +typedef double IkReal; +#endif + +/** \brief Computes all IK solutions given a end effector coordinates and the free joints. + + - ``eetrans`` - 3 translation values. For iktype **TranslationXYOrientation3D**, the z-axis is the orientation. + - ``eerot`` + - For **Transform6D** it is 9 values for the 3x3 rotation matrix. + - For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target direction. + - For **TranslationXAxisAngle4D**, **TranslationYAxisAngle4D**, and **TranslationZAxisAngle4D** the first value + represents the angle. + - For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end + effector coordinate system. + */ +IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, + ikfast::IkSolutionListBase& solutions); + +/// \brief Computes the end effector coordinates given the joint values. This function is used to double check ik. +IKFAST_API void ComputeFk(const IkReal* joints, IkReal* eetrans, IkReal* eerot); + +/// \brief returns the number of free parameters users has to set apriori +IKFAST_API int GetNumFreeParameters(); + +/// \brief the indices of the free parameters indexed by the chain joints +IKFAST_API int* GetFreeParameters(); + +/// \brief the total number of indices of the chain +IKFAST_API int GetNumJoints(); + +/// \brief the size in bytes of the configured number type +IKFAST_API int GetIkRealSize(); + +/// \brief the ikfast version used to generate this file +IKFAST_API const char* GetIkFastVersion(); + +/// \brief the ik type ID +IKFAST_API int GetIkType(); + +/// \brief a hash of all the chain values used for double checking that the correct IK is used. +IKFAST_API const char* GetKinematicsHash(); + +#ifdef IKFAST_NAMESPACE +} +#endif + +#endif // IKFAST_HAS_LIBRARY diff --git a/widowx_arm_widowx_arm_ikfast_plugin/package.xml b/widowx_arm_widowx_arm_ikfast_plugin/package.xml new file mode 100644 index 0000000..363be9e --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/package.xml @@ -0,0 +1,24 @@ + + + widowx_arm_widowx_arm_ikfast_plugin + 0.0.0 + IKFast plugin for widowx_arm + BSD + gouda + catkin + moveit_core + tf2_kdl + pluginlib + eigen_conversions + tf2_eigen + liblapack-dev + roscpp + moveit_core + pluginlib + liblapack-dev + roscpp + eigen_conversions + + + + diff --git a/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_moveit_plugin.cpp b/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_moveit_plugin.cpp new file mode 100644 index 0000000..64892ea --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_moveit_plugin.cpp @@ -0,0 +1,1376 @@ +/********************************************************************* + * + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST; Mathias Lüdtke, Fraunhofer + *IPA + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the all of the author's companies nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + *********************************************************************/ + +/* + * IKFast Kinematics Solver Plugin for MoveIt! wrapping an ikfast solver from OpenRAVE. + * + * AUTO-GENERATED by create_ikfast_moveit_plugin.py in moveit_kinematics package. + * + * This file, including the ikfast cpp from OpenRAVE below, forms a MoveIt! kinematics plugin. + */ + +#include +#include +#include +#include +#include +#include +#include + +using namespace moveit::core; + +// Need a floating point tolerance when checking joint limits, in case the joint starts at limit +const double LIMIT_TOLERANCE = .0000001; +/// \brief Search modes for searchPositionIK(), see there +enum SEARCH_MODE +{ + OPTIMIZE_FREE_JOINT = 1, + OPTIMIZE_MAX_JOINT = 2 +}; + +namespace widowx_arm_widowx_arm +{ +#define IKFAST_NO_MAIN // Don't include main() from IKFast + +/// \brief The types of inverse kinematics parameterizations supported. +/// +/// The minimum degree of freedoms required is set in the upper 4 bits of each type. +/// The number of values used to represent the parameterization ( >= dof ) is the next 4 bits. +/// The lower bits contain a unique id of the type. +enum IkParameterizationType +{ + IKP_None = 0, + IKP_Transform6D = 0x67000001, ///< end effector reaches desired 6D transformation + IKP_Rotation3D = 0x34000002, ///< end effector reaches desired 3D rotation + IKP_Translation3D = 0x33000003, ///< end effector origin reaches desired 3D translation + IKP_Direction3D = 0x23000004, ///< direction on end effector coordinate system reaches desired direction + IKP_Ray4D = 0x46000005, ///< ray on end effector coordinate system reaches desired global ray + IKP_Lookat3D = 0x23000006, ///< direction on end effector coordinate system points to desired 3D position + IKP_TranslationDirection5D = 0x56000007, ///< end effector origin and direction reaches desired 3D translation and + /// direction. Can be thought of as Ray IK where the origin of the ray must + /// coincide. + IKP_TranslationXY2D = 0x22000008, ///< 2D translation along XY plane + IKP_TranslationXYOrientation3D = 0x33000009, ///< 2D translation along XY plane and 1D rotation around Z axis. The + /// offset of the rotation is measured starting at +X, so at +X is it 0, + /// at +Y it is pi/2. + IKP_TranslationLocalGlobal6D = 0x3600000a, ///< local point on end effector origin reaches desired 3D global point + + IKP_TranslationXAxisAngle4D = 0x4400000b, ///< end effector origin reaches desired 3D translation, manipulator + /// direction makes a specific angle with x-axis like a cone, angle is from + /// 0-pi. Axes defined in the manipulator base link's coordinate system) + IKP_TranslationYAxisAngle4D = 0x4400000c, ///< end effector origin reaches desired 3D translation, manipulator + /// direction makes a specific angle with y-axis like a cone, angle is from + /// 0-pi. Axes defined in the manipulator base link's coordinate system) + IKP_TranslationZAxisAngle4D = 0x4400000d, ///< end effector origin reaches desired 3D translation, manipulator + /// direction makes a specific angle with z-axis like a cone, angle is from + /// 0-pi. Axes are defined in the manipulator base link's coordinate system. + + IKP_TranslationXAxisAngleZNorm4D = 0x4400000e, ///< end effector origin reaches desired 3D translation, manipulator + /// direction needs to be orthogonal to z-axis and be rotated at a + /// certain angle starting from the x-axis (defined in the manipulator + /// base link's coordinate system) + IKP_TranslationYAxisAngleXNorm4D = 0x4400000f, ///< end effector origin reaches desired 3D translation, manipulator + /// direction needs to be orthogonal to x-axis and be rotated at a + /// certain angle starting from the y-axis (defined in the manipulator + /// base link's coordinate system) + IKP_TranslationZAxisAngleYNorm4D = 0x44000010, ///< end effector origin reaches desired 3D translation, manipulator + /// direction needs to be orthogonal to y-axis and be rotated at a + /// certain angle starting from the z-axis (defined in the manipulator + /// base link's coordinate system) + + IKP_NumberOfParameterizations = 16, ///< number of parameterizations (does not count IKP_None) + + IKP_VelocityDataBit = + 0x00008000, ///< bit is set if the data represents the time-derivate velocity of an IkParameterization + IKP_Transform6DVelocity = IKP_Transform6D | IKP_VelocityDataBit, + IKP_Rotation3DVelocity = IKP_Rotation3D | IKP_VelocityDataBit, + IKP_Translation3DVelocity = IKP_Translation3D | IKP_VelocityDataBit, + IKP_Direction3DVelocity = IKP_Direction3D | IKP_VelocityDataBit, + IKP_Ray4DVelocity = IKP_Ray4D | IKP_VelocityDataBit, + IKP_Lookat3DVelocity = IKP_Lookat3D | IKP_VelocityDataBit, + IKP_TranslationDirection5DVelocity = IKP_TranslationDirection5D | IKP_VelocityDataBit, + IKP_TranslationXY2DVelocity = IKP_TranslationXY2D | IKP_VelocityDataBit, + IKP_TranslationXYOrientation3DVelocity = IKP_TranslationXYOrientation3D | IKP_VelocityDataBit, + IKP_TranslationLocalGlobal6DVelocity = IKP_TranslationLocalGlobal6D | IKP_VelocityDataBit, + IKP_TranslationXAxisAngle4DVelocity = IKP_TranslationXAxisAngle4D | IKP_VelocityDataBit, + IKP_TranslationYAxisAngle4DVelocity = IKP_TranslationYAxisAngle4D | IKP_VelocityDataBit, + IKP_TranslationZAxisAngle4DVelocity = IKP_TranslationZAxisAngle4D | IKP_VelocityDataBit, + IKP_TranslationXAxisAngleZNorm4DVelocity = IKP_TranslationXAxisAngleZNorm4D | IKP_VelocityDataBit, + IKP_TranslationYAxisAngleXNorm4DVelocity = IKP_TranslationYAxisAngleXNorm4D | IKP_VelocityDataBit, + IKP_TranslationZAxisAngleYNorm4DVelocity = IKP_TranslationZAxisAngleYNorm4D | IKP_VelocityDataBit, + + IKP_UniqueIdMask = 0x0000ffff, ///< the mask for the unique ids + IKP_CustomDataBit = 0x00010000, ///< bit is set if the ikparameterization contains custom data, this is only used + /// when serializing the ik parameterizations +}; + +// struct for storing and sorting solutions +struct LimitObeyingSol +{ + std::vector value; + double dist_from_seed; + + bool operator<(const LimitObeyingSol& a) const + { + return dist_from_seed < a.dist_from_seed; + } +}; + +// Code generated by IKFast56/61 +#include "widowx_arm_widowx_arm_ikfast_solver.cpp" + +class IKFastKinematicsPlugin : public kinematics::KinematicsBase +{ + std::vector joint_names_; + std::vector joint_min_vector_; + std::vector joint_max_vector_; + std::vector joint_has_limits_vector_; + std::vector link_names_; + const size_t num_joints_; + std::vector free_params_; + + // The ikfast and base frame are the start and end of the kinematic chain for which the + // IKFast analytic solution was generated. + const std::string IKFAST_TIP_FRAME_ = "wrist_2_link"; + const std::string IKFAST_BASE_FRAME_ = "arm_base_link"; + + // The transform tip and base bool are set to true if this solver is used with a kinematic + // chain that extends beyond the ikfast tip and base frame. The solution will be valid so + // long as there are no active, passive, or mimic joints between either the ikfast_tip_frame + // and the tip_frame of the group or the ikfast_base_frame and the base_frame for the group. + bool tip_transform_required_; + bool base_transform_required_; + + // We store the transform from the ikfast_base_frame to the group base_frame as well as the + // ikfast_tip_frame to the group tip_frame to transform input poses into the solver frame. + Eigen::Isometry3d chain_base_to_group_base_; + Eigen::Isometry3d group_tip_to_chain_tip_; + + bool initialized_; // Internal variable that indicates whether solvers are configured and ready + const std::string name_{ "ikfast" }; + + const std::vector& getJointNames() const override + { + return joint_names_; + } + const std::vector& getLinkNames() const override + { + return link_names_; + } + +public: + /** @class + * @brief Interface for an IKFast kinematics plugin + */ + IKFastKinematicsPlugin() : num_joints_(GetNumJoints()), initialized_(false) + { + srand(time(nullptr)); + supported_methods_.push_back(kinematics::DiscretizationMethods::NO_DISCRETIZATION); + supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_DISCRETIZED); + supported_methods_.push_back(kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED); + } + + /** + * @brief Given a desired pose of the end-effector, compute the joint angles to reach it + * @param ik_pose the desired pose of the link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @param solution the solution vector + * @param error_code an error code that encodes the reason for failure or success + * @return True if a valid solution was found, false otherwise + */ + + // Returns the IK solution that is within joint limits closest to ik_seed_state + bool getPositionIK( + const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, std::vector& solution, + moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + /** + * @brief Given a desired pose of the end-effector, compute the set joint angles solutions that are able to reach it. + * + * This is a default implementation that returns only one solution and so its result is equivalent to calling + * 'getPositionIK(...)' with a zero initialized seed. + * + * @param ik_poses The desired pose of each tip link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @param solutions A vector of vectors where each entry is a valid joint solution + * @param result A struct that reports the results of the query + * @param options An option struct which contains the type of redundancy discretization used. This default + * implementation only supports the KinmaticSearches::NO_DISCRETIZATION method; requesting any + * other will result in failure. + * @return True if a valid set of solutions was found, false otherwise. + */ + bool getPositionIK(const std::vector& ik_poses, const std::vector& ik_seed_state, + std::vector>& solutions, kinematics::KinematicsResult& result, + const kinematics::KinematicsQueryOptions& options) const override; + + /** + * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. + * This particular method is intended for "searching" for a solutions by stepping through the redundancy + * (or other numerical routines). + * @param ik_pose the desired pose of the link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @return True if a valid solution was found, false otherwise + */ + bool searchPositionIK( + const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + std::vector& solution, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + /** + * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. + * This particular method is intended for "searching" for a solutions by stepping through the redundancy + * (or other numerical routines). + * @param ik_pose the desired pose of the link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @param the distance that the redundancy can be from the current position + * @return True if a valid solution was found, false otherwise + */ + bool searchPositionIK( + const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, std::vector& solution, + moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + /** + * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. + * This particular method is intended for "searching" for a solutions by stepping through the redundancy + * (or other numerical routines). + * @param ik_pose the desired pose of the link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @return True if a valid solution was found, false otherwise + */ + bool searchPositionIK( + const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + std::vector& solution, const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + /** + * @brief Given a desired pose of the end-effector, search for the joint angles required to reach it. + * This particular method is intended for "searching" for a solutions by stepping through the redundancy + * (or other numerical routines). The consistency_limit specifies that only certain redundancy positions + * around those specified in the seed state are admissible and need to be searched. + * @param ik_pose the desired pose of the link + * @param ik_seed_state an initial guess solution for the inverse kinematics + * @param consistency_limit the distance that the redundancy can be from the current position + * @return True if a valid solution was found, false otherwise + */ + bool searchPositionIK( + const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, std::vector& solution, + const IKCallbackFn& solution_callback, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options = kinematics::KinematicsQueryOptions()) const override; + + /** + * @brief Given a set of joint angles and a set of links, compute their pose + * + * @param link_names A set of links for which FK needs to be computed + * @param joint_angles The state for which FK is being computed + * @param poses The resultant set of poses (in the frame returned by getBaseFrame()) + * @return True if a valid solution was found, false otherwise + */ + bool getPositionFK(const std::vector& link_names, const std::vector& joint_angles, + std::vector& poses) const override; + + /** + * @brief Sets the discretization value for the redundant joint. + * + * Since this ikfast implementation allows for one redundant joint then only the first entry will be in the + *discretization map will be used. + * Calling this method replaces previous discretization settings. + * + * @param discretization a map of joint indices and discretization value pairs. + */ + void setSearchDiscretization(const std::map& discretization); + + /** + * @brief Overrides the default method to prevent changing the redundant joints + */ + bool setRedundantJoints(const std::vector& redundant_joint_indices) override; + +private: + bool initialize(const moveit::core::RobotModel& robot_model, const std::string& group_name, + const std::string& base_frame, const std::vector& tip_frames, + double search_discretization) override; + + /** + * @brief Calls the IK solver from IKFast + * @return The number of solutions found + */ + size_t solve(KDL::Frame& pose_frame, const std::vector& vfree, IkSolutionList& solutions) const; + + /** + * @brief Gets a specific solution from the set + */ + void getSolution(const IkSolutionList& solutions, int i, std::vector& solution) const; + + /** + * @brief Gets a specific solution from the set with joints rotated 360° to be near seed state where possible + */ + void getSolution(const IkSolutionList& solutions, const std::vector& ik_seed_state, int i, + std::vector& solution) const; + + /** + * @brief If the value is outside of min/max then it tries to +/- 2 * pi to put the value into the range + */ + double enforceLimits(double val, double min, double max) const; + + void fillFreeParams(int count, int* array); + bool getCount(int& count, const int& max_count, const int& min_count) const; + + /** + * @brief samples the designated redundant joint using the chosen discretization method + * @param method An enumeration flag indicating the discretization method to be used + * @param sampled_joint_vals Sampled joint values for the redundant joint + * @return True if sampling succeeded. + */ + bool sampleRedundantJoint(kinematics::DiscretizationMethod method, std::vector& sampled_joint_vals) const; + + /// Validate that we can compute a fixed transform between from and to links. + bool computeRelativeTransform(const std::string& from, const std::string& to, Eigen::Isometry3d& transform, + bool& differs_from_identity); + /** + * @brief Transforms the input pose to the correct frame for the solver. This assumes that the group includes the + * entire solver chain and that any joints outside of the solver chain within the group are are fixed. + * @param ik_pose The pose to be transformed which should be in the correct frame for the group. + * @param ik_pose_chain The ik_pose to be populated with the apropriate pose for the solver + */ + void transformToChainFrame(const geometry_msgs::Pose& ik_pose, KDL::Frame& ik_pose_chain) const; +}; // end class + +bool IKFastKinematicsPlugin::computeRelativeTransform(const std::string& from, const std::string& to, + Eigen::Isometry3d& transform, bool& differs_from_identity) +{ + RobotStatePtr robot_state; + robot_state.reset(new RobotState(robot_model_)); + robot_state->setToDefaultValues(); + + auto* from_link = robot_state->getLinkModel(from); + auto* to_link = robot_state->getLinkModel(to); + if (!from_link) + ROS_ERROR_STREAM_NAMED(name_, "Could not find frame " << from); + if (!to_link) + ROS_ERROR_STREAM_NAMED(name_, "Could not find frame " << to); + if (!from_link || !to_link) + return false; + + if (robot_state->getRobotModel()->getRigidlyConnectedParentLinkModel(from_link) != + robot_state->getRobotModel()->getRigidlyConnectedParentLinkModel(to_link)) + { + ROS_ERROR_STREAM_NAMED(name_, "Link frames " << from << " and " << to << " are not rigidly connected."); + return false; + } + + transform = robot_state->getGlobalLinkTransform(from_link).inverse() * robot_state->getGlobalLinkTransform(to_link); + differs_from_identity = !transform.matrix().isIdentity(); + return true; +} + +bool IKFastKinematicsPlugin::initialize(const moveit::core::RobotModel& robot_model, const std::string& group_name, + const std::string& base_frame, const std::vector& tip_frames, + double search_discretization) +{ + if (tip_frames.size() != 1) + { + ROS_ERROR_NAMED(name_, "Expecting exactly one tip frame."); + return false; + } + + storeValues(robot_model, group_name, base_frame, tip_frames, search_discretization); + + // This IKFast solution was generated with IKFAST_TIP_FRAME_ and IKFAST_BASE_FRAME_. + // It is often the case that fixed joints are added to these links to model things like + // a robot mounted on a table or a robot with an end effector attached to the last link. + // To support these use cases, we store the transform from the IKFAST_BASE_FRAME_ to the + // base_frame_ and IKFAST_TIP_FRAME_ the tip_frame_ and transform to the input pose accordingly + if (!computeRelativeTransform(tip_frames_[0], IKFAST_TIP_FRAME_, group_tip_to_chain_tip_, tip_transform_required_) || + !computeRelativeTransform(IKFAST_BASE_FRAME_, base_frame_, chain_base_to_group_base_, base_transform_required_)) + return false; + + // IKFast56/61 + fillFreeParams(GetNumFreeParameters(), GetFreeParameters()); + + if (free_params_.size() > 1) + { + ROS_ERROR_NAMED(name_, "Only one free joint parameter supported!"); + return false; + } + else if (free_params_.size() == 1) + { + redundant_joint_indices_.clear(); + redundant_joint_indices_.push_back(free_params_[0]); + KinematicsBase::setSearchDiscretization(search_discretization); + } + + const moveit::core::JointModelGroup* jmg = robot_model_->getJointModelGroup(group_name); + if (!jmg) + { + ROS_ERROR_STREAM_NAMED(name_, "Unknown planning group: " << group_name); + return false; + } + + ROS_DEBUG_STREAM_NAMED(name_, "Registering joints and links"); + const moveit::core::LinkModel* link = robot_model_->getLinkModel(tip_frames_[0]); + const moveit::core::LinkModel* base_link = robot_model_->getLinkModel(base_frame_); + while (link && link != base_link) + { + ROS_DEBUG_STREAM_NAMED(name_, "Link " << link->getName()); + link_names_.push_back(link->getName()); + const moveit::core::JointModel* joint = link->getParentJointModel(); + if (joint->getType() != joint->UNKNOWN && joint->getType() != joint->FIXED && joint->getVariableCount() == 1) + { + ROS_DEBUG_STREAM_NAMED(name_, "Adding joint " << joint->getName()); + + joint_names_.push_back(joint->getName()); + const moveit::core::VariableBounds& bounds = joint->getVariableBounds()[0]; + joint_has_limits_vector_.push_back(bounds.position_bounded_); + joint_min_vector_.push_back(bounds.min_position_); + joint_max_vector_.push_back(bounds.max_position_); + } + link = link->getParentLinkModel(); + } + + if (joint_names_.size() != num_joints_) + { + ROS_FATAL_NAMED(name_, "Joint numbers of RobotModel (%zd) and IKFast solver (%zd) do not match", + joint_names_.size(), num_joints_); + return false; + } + + std::reverse(link_names_.begin(), link_names_.end()); + std::reverse(joint_names_.begin(), joint_names_.end()); + std::reverse(joint_min_vector_.begin(), joint_min_vector_.end()); + std::reverse(joint_max_vector_.begin(), joint_max_vector_.end()); + std::reverse(joint_has_limits_vector_.begin(), joint_has_limits_vector_.end()); + + for (size_t joint_id = 0; joint_id < num_joints_; ++joint_id) + ROS_DEBUG_STREAM_NAMED(name_, joint_names_[joint_id] << " " << joint_min_vector_[joint_id] << " " + << joint_max_vector_[joint_id] << " " + << joint_has_limits_vector_[joint_id]); + + initialized_ = true; + return true; +} + +void IKFastKinematicsPlugin::setSearchDiscretization(const std::map& discretization) +{ + if (discretization.empty()) + { + ROS_ERROR("The 'discretization' map is empty"); + return; + } + + if (redundant_joint_indices_.empty()) + { + ROS_ERROR_STREAM_NAMED(name_, "This group's solver doesn't support redundant joints"); + return; + } + + if (discretization.begin()->first != redundant_joint_indices_[0]) + { + std::string redundant_joint = joint_names_[free_params_[0]]; + ROS_ERROR_STREAM_NAMED(name_, "Attempted to discretize a non-redundant joint " + << discretization.begin()->first << ", only joint '" << redundant_joint + << "' with index " << redundant_joint_indices_[0] << " is redundant."); + return; + } + + if (discretization.begin()->second <= 0.0) + { + ROS_ERROR_STREAM_NAMED(name_, "Discretization can not takes values that are <= 0"); + return; + } + + redundant_joint_discretization_.clear(); + redundant_joint_discretization_[redundant_joint_indices_[0]] = discretization.begin()->second; +} + +bool IKFastKinematicsPlugin::setRedundantJoints(const std::vector& redundant_joint_indices) +{ + ROS_ERROR_STREAM_NAMED(name_, "Changing the redundant joints isn't permitted by this group's solver "); + return false; +} + +size_t IKFastKinematicsPlugin::solve(KDL::Frame& pose_frame, const std::vector& vfree, + IkSolutionList& solutions) const +{ + // IKFast56/61 + solutions.Clear(); + + double trans[3]; + trans[0] = pose_frame.p[0]; //-.18; + trans[1] = pose_frame.p[1]; + trans[2] = pose_frame.p[2]; + + KDL::Rotation mult; + KDL::Vector direction; + + switch (GetIkType()) + { + case IKP_Transform6D: + case IKP_Translation3D: + // For **Transform6D**, eerot is 9 values for the 3x3 rotation matrix. For **Translation3D**, these are ignored. + + mult = pose_frame.M; + + double vals[9]; + vals[0] = mult(0, 0); + vals[1] = mult(0, 1); + vals[2] = mult(0, 2); + vals[3] = mult(1, 0); + vals[4] = mult(1, 1); + vals[5] = mult(1, 2); + vals[6] = mult(2, 0); + vals[7] = mult(2, 1); + vals[8] = mult(2, 2); + + // IKFast56/61 + ComputeIk(trans, vals, vfree.size() > 0 ? &vfree[0] : nullptr, solutions); + return solutions.GetNumSolutions(); + + case IKP_Direction3D: + case IKP_Ray4D: + case IKP_TranslationDirection5D: + // For **Direction3D**, **Ray4D**, and **TranslationDirection5D**, the first 3 values represent the target + // direction. + + direction = pose_frame.M * KDL::Vector(0, 0, 1); + ComputeIk(trans, direction.data, vfree.size() > 0 ? &vfree[0] : nullptr, solutions); + return solutions.GetNumSolutions(); + + case IKP_TranslationXAxisAngle4D: + case IKP_TranslationYAxisAngle4D: + case IKP_TranslationZAxisAngle4D: + // For *TranslationXAxisAngle4D*, *TranslationYAxisAngle4D*, *TranslationZAxisAngle4D* - end effector origin + // reaches desired 3D translation, manipulator direction makes a specific angle with x/y/z-axis (defined in the + // manipulator base link’s coordinate system) + ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet."); + return 0; + + case IKP_TranslationLocalGlobal6D: + // For **TranslationLocalGlobal6D**, the diagonal elements ([0],[4],[8]) are the local translation inside the end + // effector coordinate system. + ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet."); + return 0; + + case IKP_Rotation3D: + case IKP_Lookat3D: + case IKP_TranslationXY2D: + case IKP_TranslationXYOrientation3D: + ROS_ERROR_NAMED(name_, "IK for this IkParameterizationType not implemented yet."); + return 0; + + case IKP_TranslationXAxisAngleZNorm4D: + double roll, pitch, yaw; + // For **TranslationXAxisAngleZNorm4D** - end effector origin reaches desired 3D translation, manipulator + // direction needs to be orthogonal to z axis and be rotated at a certain angle starting from the x axis (defined + // in the manipulator base link’s coordinate system) + pose_frame.M.GetRPY(roll, pitch, yaw); + ComputeIk(trans, &yaw, vfree.size() > 0 ? &vfree[0] : nullptr, solutions); + return solutions.GetNumSolutions(); + + case IKP_TranslationYAxisAngleXNorm4D: + // For **TranslationYAxisAngleXNorm4D** - end effector origin reaches desired 3D translation, manipulator + // direction needs to be orthogonal to x axis and be rotated at a certain angle starting from the y axis (defined + // in the manipulator base link’s coordinate system) + pose_frame.M.GetRPY(roll, pitch, yaw); + ComputeIk(trans, &roll, vfree.size() > 0 ? &vfree[0] : nullptr, solutions); + return solutions.GetNumSolutions(); + + case IKP_TranslationZAxisAngleYNorm4D: + // For **TranslationZAxisAngleYNorm4D** - end effector origin reaches desired 3D translation, manipulator + // direction needs to be orthogonal to y axis and be rotated at a certain angle starting from the z axis (defined + // in the manipulator base link’s coordinate system) + pose_frame.M.GetRPY(roll, pitch, yaw); + ComputeIk(trans, &pitch, vfree.size() > 0 ? &vfree[0] : nullptr, solutions); + return solutions.GetNumSolutions(); + + default: + ROS_ERROR_NAMED(name_, "Unknown IkParameterizationType! " + "Was the solver generated with an incompatible version of Openrave?"); + return 0; + } +} + +void IKFastKinematicsPlugin::getSolution(const IkSolutionList& solutions, int i, + std::vector& solution) const +{ + solution.clear(); + solution.resize(num_joints_); + + // IKFast56/61 + const IkSolutionBase& sol = solutions.GetSolution(i); + std::vector vsolfree(sol.GetFree().size()); + sol.GetSolution(&solution[0], vsolfree.size() > 0 ? &vsolfree[0] : nullptr); + + for (std::size_t joint_id = 0; joint_id < num_joints_; ++joint_id) + { + if (joint_has_limits_vector_[joint_id]) + { + solution[joint_id] = enforceLimits(solution[joint_id], joint_min_vector_[joint_id], joint_max_vector_[joint_id]); + } + } +} + +void IKFastKinematicsPlugin::getSolution(const IkSolutionList& solutions, + const std::vector& ik_seed_state, int i, + std::vector& solution) const +{ + solution.clear(); + solution.resize(num_joints_); + + // IKFast56/61 + const IkSolutionBase& sol = solutions.GetSolution(i); + std::vector vsolfree(sol.GetFree().size()); + sol.GetSolution(&solution[0], vsolfree.size() > 0 ? &vsolfree[0] : nullptr); + + // rotate joints by +/-360° where it is possible and useful + for (std::size_t i = 0; i < num_joints_; ++i) + { + if (joint_has_limits_vector_[i]) + { + solution[i] = enforceLimits(solution[i], joint_min_vector_[i], joint_max_vector_[i]); + double signed_distance = solution[i] - ik_seed_state[i]; + while (signed_distance > M_PI && solution[i] - 2 * M_PI > (joint_min_vector_[i] - LIMIT_TOLERANCE)) + { + signed_distance -= 2 * M_PI; + solution[i] -= 2 * M_PI; + } + while (signed_distance < -M_PI && solution[i] + 2 * M_PI < (joint_max_vector_[i] + LIMIT_TOLERANCE)) + { + signed_distance += 2 * M_PI; + solution[i] += 2 * M_PI; + } + } + } +} + +double IKFastKinematicsPlugin::enforceLimits(double joint_value, double min, double max) const +{ + // If the joint_value is greater than max subtract 2 * PI until it is less than the max + while (joint_value > max) + { + joint_value -= 2 * M_PI; + } + + // If the joint_value is less than the min, add 2 * PI until it is more than the min + while (joint_value < min) + { + joint_value += 2 * M_PI; + } + return joint_value; +} + +void IKFastKinematicsPlugin::fillFreeParams(int count, int* array) +{ + free_params_.clear(); + for (int i = 0; i < count; ++i) + free_params_.push_back(array[i]); +} + +bool IKFastKinematicsPlugin::getCount(int& count, const int& max_count, const int& min_count) const +{ + if (count > 0) + { + if (-count >= min_count) + { + count = -count; + return true; + } + else if (count + 1 <= max_count) + { + count = count + 1; + return true; + } + else + { + return false; + } + } + else + { + if (1 - count <= max_count) + { + count = 1 - count; + return true; + } + else if (count - 1 >= min_count) + { + count = count - 1; + return true; + } + else + return false; + } +} + +bool IKFastKinematicsPlugin::getPositionFK(const std::vector& link_names, + const std::vector& joint_angles, + std::vector& poses) const +{ + if (GetIkType() != IKP_Transform6D) + { + // ComputeFk() is the inverse function of ComputeIk(), so the format of + // eerot differs depending on IK type. The Transform6D IK type is the only + // one for which a 3x3 rotation matrix is returned, which means we can only + // compute FK for that IK type. + ROS_ERROR_NAMED(name_, "Can only compute FK for Transform6D IK type!"); + return false; + } + + KDL::Frame p_out; + if (link_names.size() == 0) + { + ROS_WARN_STREAM_NAMED(name_, "Link names with nothing"); + return false; + } + + if (link_names.size() != 1 || link_names[0] != getTipFrame()) + { + ROS_ERROR_NAMED(name_, "Can compute FK for %s only", getTipFrame().c_str()); + return false; + } + + bool valid = true; + + IkReal eerot[9], eetrans[3]; + + if (joint_angles.size() != num_joints_) + { + ROS_ERROR_NAMED(name_, "Unexpected number of joint angles"); + return false; + } + + IkReal angles[num_joints_]; + for (unsigned char i = 0; i < num_joints_; i++) + angles[i] = joint_angles[i]; + + // IKFast56/61 + ComputeFk(angles, eetrans, eerot); + + for (int i = 0; i < 3; ++i) + p_out.p.data[i] = eetrans[i]; + + for (int i = 0; i < 9; ++i) + p_out.M.data[i] = eerot[i]; + + poses.resize(1); + poses[0] = tf2::toMsg(p_out); + + return valid; +} + +bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, + const std::vector& ik_seed_state, double timeout, + std::vector& solution, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + std::vector consistency_limits; + return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code, + options); +} + +bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, + const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, + std::vector& solution, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, IKCallbackFn(), error_code, + options); +} + +bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, + const std::vector& ik_seed_state, double timeout, + std::vector& solution, const IKCallbackFn& solution_callback, + moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + std::vector consistency_limits; + return searchPositionIK(ik_pose, ik_seed_state, timeout, consistency_limits, solution, solution_callback, error_code, + options); +} + +bool IKFastKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose& ik_pose, + const std::vector& ik_seed_state, double timeout, + const std::vector& consistency_limits, + std::vector& solution, const IKCallbackFn& solution_callback, + moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + // "SEARCH_MODE" is fixed during code generation + SEARCH_MODE search_mode = OPTIMIZE_MAX_JOINT; + + // Check if there are no redundant joints + if (free_params_.size() == 0) + { + ROS_DEBUG_STREAM_NAMED(name_, "No need to search since no free params/redundant joints"); + + std::vector ik_poses(1, ik_pose); + std::vector> solutions; + kinematics::KinematicsResult kinematic_result; + // Find all IK solutions within joint limits + if (!getPositionIK(ik_poses, ik_seed_state, solutions, kinematic_result, options)) + { + ROS_DEBUG_STREAM_NAMED(name_, "No solution whatsoever"); + error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; + return false; + } + + // sort solutions by their distance to the seed + std::vector solutions_obey_limits; + for (std::size_t i = 0; i < solutions.size(); ++i) + { + double dist_from_seed = 0.0; + for (std::size_t j = 0; j < ik_seed_state.size(); ++j) + { + dist_from_seed += fabs(ik_seed_state[j] - solutions[i][j]); + } + + solutions_obey_limits.push_back({ solutions[i], dist_from_seed }); + } + std::sort(solutions_obey_limits.begin(), solutions_obey_limits.end()); + + // check for collisions if a callback is provided + if (!solution_callback.empty()) + { + for (std::size_t i = 0; i < solutions_obey_limits.size(); ++i) + { + solution_callback(ik_pose, solutions_obey_limits[i].value, error_code); + if (error_code.val == moveit_msgs::MoveItErrorCodes::SUCCESS) + { + solution = solutions_obey_limits[i].value; + ROS_DEBUG_STREAM_NAMED(name_, "Solution passes callback"); + return true; + } + } + + ROS_DEBUG_STREAM_NAMED(name_, "Solution has error code " << error_code); + return false; + } + else + { + solution = solutions_obey_limits[0].value; + error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS; + return true; // no collision check callback provided + } + } + + // ------------------------------------------------------------------------------------------------- + // Error Checking + if (!initialized_) + { + ROS_ERROR_STREAM_NAMED(name_, "Kinematics not active"); + error_code.val = error_code.NO_IK_SOLUTION; + return false; + } + + if (ik_seed_state.size() != num_joints_) + { + ROS_ERROR_STREAM_NAMED(name_, "Seed state must have size " << num_joints_ << " instead of size " + << ik_seed_state.size()); + error_code.val = error_code.NO_IK_SOLUTION; + return false; + } + + if (!consistency_limits.empty() && consistency_limits.size() != num_joints_) + { + ROS_ERROR_STREAM_NAMED(name_, "Consistency limits be empty or must have size " << num_joints_ << " instead of size " + << consistency_limits.size()); + error_code.val = error_code.NO_IK_SOLUTION; + return false; + } + + // ------------------------------------------------------------------------------------------------- + // Initialize + + KDL::Frame frame; + transformToChainFrame(ik_pose, frame); + + std::vector vfree(free_params_.size()); + + int counter = 0; + + double initial_guess = ik_seed_state[free_params_[0]]; + vfree[0] = initial_guess; + + // ------------------------------------------------------------------------------------------------- + // Handle consitency limits if needed + int num_positive_increments; + int num_negative_increments; + double search_discretization = redundant_joint_discretization_.at(free_params_[0]); + + if (!consistency_limits.empty()) + { + // MoveIt! replaced consistency_limit (scalar) w/ consistency_limits (vector) + // Assume [0]th free_params element for now. Probably wrong. + double max_limit = fmin(joint_max_vector_[free_params_[0]], initial_guess + consistency_limits[free_params_[0]]); + double min_limit = fmax(joint_min_vector_[free_params_[0]], initial_guess - consistency_limits[free_params_[0]]); + + num_positive_increments = static_cast((max_limit - initial_guess) / search_discretization); + num_negative_increments = static_cast((initial_guess - min_limit) / search_discretization); + } + else // no consistency limits provided + { + num_positive_increments = (joint_max_vector_[free_params_[0]] - initial_guess) / search_discretization; + num_negative_increments = (initial_guess - joint_min_vector_[free_params_[0]]) / search_discretization; + } + + // ------------------------------------------------------------------------------------------------- + // Begin searching + + ROS_DEBUG_STREAM_NAMED(name_, "Free param is " << free_params_[0] << " initial guess is " << initial_guess + << ", # positive increments: " << num_positive_increments + << ", # negative increments: " << num_negative_increments); + if ((search_mode & OPTIMIZE_MAX_JOINT) && (num_positive_increments + num_negative_increments) > 1000) + ROS_WARN_STREAM_ONCE_NAMED(name_, "Large search space, consider increasing the search discretization"); + + double best_costs = -1.0; + std::vector best_solution; + int nattempts = 0, nvalid = 0; + + while (true) + { + IkSolutionList solutions; + size_t numsol = solve(frame, vfree, solutions); + + ROS_DEBUG_STREAM_NAMED(name_, "Found " << numsol << " solutions from IKFast"); + + if (numsol > 0) + { + for (size_t s = 0; s < numsol; ++s) + { + nattempts++; + std::vector sol; + getSolution(solutions, ik_seed_state, s, sol); + + bool obeys_limits = true; + for (size_t i = 0; i < sol.size(); i++) + { + if (joint_has_limits_vector_[i] && (sol[i] < joint_min_vector_[i] || sol[i] > joint_max_vector_[i])) + { + obeys_limits = false; + break; + } + // ROS_INFO_STREAM_NAMED(name_,"Num " << i << " value " << sol[i] << " has limits " << + // joint_has_limits_vector_[i] << " " << joint_min_vector_[i] << " " << joint_max_vector_[i]); + } + if (obeys_limits) + { + getSolution(solutions, ik_seed_state, s, solution); + + // This solution is within joint limits, now check if in collision (if callback provided) + if (!solution_callback.empty()) + { + solution_callback(ik_pose, solution, error_code); + } + else + { + error_code.val = error_code.SUCCESS; + } + + if (error_code.val == error_code.SUCCESS) + { + nvalid++; + if (search_mode & OPTIMIZE_MAX_JOINT) + { + // Costs for solution: Largest joint motion + double costs = 0.0; + for (unsigned int i = 0; i < solution.size(); i++) + { + double d = fabs(ik_seed_state[i] - solution[i]); + if (d > costs) + costs = d; + } + if (costs < best_costs || best_costs == -1.0) + { + best_costs = costs; + best_solution = solution; + } + } + else + // Return first feasible solution + return true; + } + } + } + } + + if (!getCount(counter, num_positive_increments, -num_negative_increments)) + { + // Everything searched + error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; + break; + } + + vfree[0] = initial_guess + search_discretization * counter; + // ROS_DEBUG_STREAM_NAMED(name_,"Attempt " << counter << " with 0th free joint having value " << vfree[0]); + } + + ROS_DEBUG_STREAM_NAMED(name_, "Valid solutions: " << nvalid << "/" << nattempts); + + if ((search_mode & OPTIMIZE_MAX_JOINT) && best_costs != -1.0) + { + solution = best_solution; + error_code.val = error_code.SUCCESS; + return true; + } + + // No solution found + error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; + return false; +} + +// Used when there are no redundant joints - aka no free params +bool IKFastKinematicsPlugin::getPositionIK(const geometry_msgs::Pose& ik_pose, const std::vector& ik_seed_state, + std::vector& solution, moveit_msgs::MoveItErrorCodes& error_code, + const kinematics::KinematicsQueryOptions& options) const +{ + ROS_DEBUG_STREAM_NAMED(name_, "getPositionIK"); + + if (!initialized_) + { + ROS_ERROR_NAMED(name_, "kinematics not active"); + return false; + } + + if (ik_seed_state.size() < num_joints_) + { + ROS_ERROR_STREAM_NAMED(name_, "ik_seed_state only has " << ik_seed_state.size() + << " entries, this ikfast solver requires " << num_joints_); + return false; + } + + // Check if seed is in bound + for (std::size_t i = 0; i < ik_seed_state.size(); i++) + { + // Add tolerance to limit check + if (joint_has_limits_vector_[i] && ((ik_seed_state[i] < (joint_min_vector_[i] - LIMIT_TOLERANCE)) || + (ik_seed_state[i] > (joint_max_vector_[i] + LIMIT_TOLERANCE)))) + { + ROS_DEBUG_STREAM_NAMED(name_, "IK seed not in limits! " << static_cast(i) << " value " << ik_seed_state[i] + << " has limit: " << joint_has_limits_vector_[i] + << " being " << joint_min_vector_[i] << " to " + << joint_max_vector_[i]); + return false; + } + } + + std::vector vfree(free_params_.size()); + for (std::size_t i = 0; i < free_params_.size(); ++i) + { + int p = free_params_[i]; + ROS_ERROR("%u is %f", p, ik_seed_state[p]); // DTC + vfree[i] = ik_seed_state[p]; + } + + KDL::Frame frame; + transformToChainFrame(ik_pose, frame); + + IkSolutionList solutions; + size_t numsol = solve(frame, vfree, solutions); + ROS_DEBUG_STREAM_NAMED(name_, "Found " << numsol << " solutions from IKFast"); + + std::vector solutions_obey_limits; + + if (numsol) + { + std::vector solution_obey_limits; + for (std::size_t s = 0; s < numsol; ++s) + { + std::vector sol; + getSolution(solutions, ik_seed_state, s, sol); + ROS_DEBUG_NAMED(name_, "Sol %d: %e %e %e %e %e %e", static_cast(s), sol[0], sol[1], sol[2], sol[3], + sol[4], sol[5]); + + bool obeys_limits = true; + for (std::size_t i = 0; i < sol.size(); i++) + { + // Add tolerance to limit check + if (joint_has_limits_vector_[i] && ((sol[i] < (joint_min_vector_[i] - LIMIT_TOLERANCE)) || + (sol[i] > (joint_max_vector_[i] + LIMIT_TOLERANCE)))) + { + // One element of solution is not within limits + obeys_limits = false; + ROS_DEBUG_STREAM_NAMED(name_, "Not in limits! " << static_cast(i) << " value " << sol[i] + << " has limit: " << joint_has_limits_vector_[i] + << " being " << joint_min_vector_[i] << " to " + << joint_max_vector_[i]); + break; + } + } + if (obeys_limits) + { + // All elements of this solution obey limits + getSolution(solutions, ik_seed_state, s, solution_obey_limits); + double dist_from_seed = 0.0; + for (std::size_t i = 0; i < ik_seed_state.size(); ++i) + { + dist_from_seed += fabs(ik_seed_state[i] - solution_obey_limits[i]); + } + + solutions_obey_limits.push_back({ solution_obey_limits, dist_from_seed }); + } + } + } + else + { + ROS_DEBUG_STREAM_NAMED(name_, "No IK solution"); + } + + // Sort the solutions under limits and find the one that is closest to ik_seed_state + if (!solutions_obey_limits.empty()) + { + std::sort(solutions_obey_limits.begin(), solutions_obey_limits.end()); + solution = solutions_obey_limits[0].value; + error_code.val = moveit_msgs::MoveItErrorCodes::SUCCESS; + return true; + } + + error_code.val = moveit_msgs::MoveItErrorCodes::NO_IK_SOLUTION; + return false; +} + +bool IKFastKinematicsPlugin::getPositionIK(const std::vector& ik_poses, + const std::vector& ik_seed_state, + std::vector>& solutions, + kinematics::KinematicsResult& result, + const kinematics::KinematicsQueryOptions& options) const +{ + ROS_DEBUG_STREAM_NAMED(name_, "getPositionIK with multiple solutions"); + + if (!initialized_) + { + ROS_ERROR_NAMED(name_, "kinematics not active"); + result.kinematic_error = kinematics::KinematicErrors::SOLVER_NOT_ACTIVE; + return false; + } + + if (ik_poses.empty()) + { + ROS_ERROR_NAMED(name_, "ik_poses is empty"); + result.kinematic_error = kinematics::KinematicErrors::EMPTY_TIP_POSES; + return false; + } + + if (ik_poses.size() > 1) + { + ROS_ERROR_NAMED(name_, "ik_poses contains multiple entries, only one is allowed"); + result.kinematic_error = kinematics::KinematicErrors::MULTIPLE_TIPS_NOT_SUPPORTED; + return false; + } + + if (ik_seed_state.size() < num_joints_) + { + ROS_ERROR_STREAM_NAMED(name_, "ik_seed_state only has " << ik_seed_state.size() + << " entries, this ikfast solver requires " << num_joints_); + return false; + } + + KDL::Frame frame; + transformToChainFrame(ik_poses[0], frame); + + // solving ik + std::vector> solution_set; + IkSolutionList ik_solutions; + std::vector vfree; + int numsol = 0; + std::vector sampled_joint_vals; + if (!redundant_joint_indices_.empty()) + { + // initializing from seed + sampled_joint_vals.push_back(ik_seed_state[redundant_joint_indices_[0]]); + + // checking joint limits when using no discretization + if (options.discretization_method == kinematics::DiscretizationMethods::NO_DISCRETIZATION && + joint_has_limits_vector_[redundant_joint_indices_.front()]) + { + double joint_min = joint_min_vector_[redundant_joint_indices_.front()]; + double joint_max = joint_max_vector_[redundant_joint_indices_.front()]; + + double jv = sampled_joint_vals[0]; + if (!((jv > (joint_min - LIMIT_TOLERANCE)) && (jv < (joint_max + LIMIT_TOLERANCE)))) + { + result.kinematic_error = kinematics::KinematicErrors::IK_SEED_OUTSIDE_LIMITS; + ROS_ERROR_STREAM_NAMED(name_, "ik seed is out of bounds"); + return false; + } + } + + // computing all solutions sets for each sampled value of the redundant joint + if (!sampleRedundantJoint(options.discretization_method, sampled_joint_vals)) + { + result.kinematic_error = kinematics::KinematicErrors::UNSUPORTED_DISCRETIZATION_REQUESTED; + return false; + } + + for (unsigned int i = 0; i < sampled_joint_vals.size(); i++) + { + vfree.clear(); + vfree.push_back(sampled_joint_vals[i]); + numsol += solve(frame, vfree, ik_solutions); + solution_set.push_back(ik_solutions); + } + } + else + { + // computing for single solution set + numsol = solve(frame, vfree, ik_solutions); + solution_set.push_back(ik_solutions); + } + + ROS_DEBUG_STREAM_NAMED(name_, "Found " << numsol << " solutions from IKFast"); + bool solutions_found = false; + if (numsol > 0) + { + /* + Iterating through all solution sets and storing those that do not exceed joint limits. + */ + for (unsigned int r = 0; r < solution_set.size(); r++) + { + ik_solutions = solution_set[r]; + numsol = ik_solutions.GetNumSolutions(); + for (int s = 0; s < numsol; ++s) + { + std::vector sol; + getSolution(ik_solutions, ik_seed_state, s, sol); + + bool obeys_limits = true; + for (unsigned int i = 0; i < sol.size(); i++) + { + // Add tolerance to limit check + if (joint_has_limits_vector_[i] && ((sol[i] < (joint_min_vector_[i] - LIMIT_TOLERANCE)) || + (sol[i] > (joint_max_vector_[i] + LIMIT_TOLERANCE)))) + { + // One element of solution is not within limits + obeys_limits = false; + ROS_DEBUG_STREAM_NAMED(name_, "Not in limits! " << i << " value " << sol[i] << " has limit: " + << joint_has_limits_vector_[i] << " being " + << joint_min_vector_[i] << " to " << joint_max_vector_[i]); + break; + } + } + if (obeys_limits) + { + // All elements of solution obey limits + solutions_found = true; + solutions.push_back(sol); + } + } + } + + if (solutions_found) + { + result.kinematic_error = kinematics::KinematicErrors::OK; + return true; + } + } + else + { + ROS_DEBUG_STREAM_NAMED(name_, "No IK solution"); + } + + result.kinematic_error = kinematics::KinematicErrors::NO_SOLUTION; + return false; +} + +bool IKFastKinematicsPlugin::sampleRedundantJoint(kinematics::DiscretizationMethod method, + std::vector& sampled_joint_vals) const +{ + int index = redundant_joint_indices_.front(); + double joint_dscrt = redundant_joint_discretization_.at(index); + double joint_min = joint_min_vector_[index]; + double joint_max = joint_max_vector_[index]; + + switch (method) + { + case kinematics::DiscretizationMethods::ALL_DISCRETIZED: + { + size_t steps = std::ceil((joint_max - joint_min) / joint_dscrt); + for (size_t i = 0; i < steps; i++) + { + sampled_joint_vals.push_back(joint_min + joint_dscrt * i); + } + sampled_joint_vals.push_back(joint_max); + } + break; + case kinematics::DiscretizationMethods::ALL_RANDOM_SAMPLED: + { + int steps = std::ceil((joint_max - joint_min) / joint_dscrt); + steps = steps > 0 ? steps : 1; + double diff = joint_max - joint_min; + for (int i = 0; i < steps; i++) + { + sampled_joint_vals.push_back(((diff * std::rand()) / (static_cast(RAND_MAX))) + joint_min); + } + } + + break; + case kinematics::DiscretizationMethods::NO_DISCRETIZATION: + + break; + default: + ROS_ERROR_STREAM_NAMED(name_, "Discretization method " << method << " is not supported"); + return false; + } + + return true; +} + +void IKFastKinematicsPlugin::transformToChainFrame(const geometry_msgs::Pose& ik_pose, KDL::Frame& ik_pose_chain) const +{ + if (tip_transform_required_ || base_transform_required_) + { + Eigen::Isometry3d ik_eigen_pose; + tf2::fromMsg(ik_pose, ik_eigen_pose); + if (tip_transform_required_) + ik_eigen_pose = ik_eigen_pose * group_tip_to_chain_tip_; + + if (base_transform_required_) + ik_eigen_pose = chain_base_to_group_base_ * ik_eigen_pose; + + tf::transformEigenToKDL(ik_eigen_pose, ik_pose_chain); + } + else + { + tf2::fromMsg(ik_pose, ik_pose_chain); + } +} + +} // end namespace + +// register IKFastKinematicsPlugin as a KinematicsBase implementation +#include +PLUGINLIB_EXPORT_CLASS(widowx_arm_widowx_arm::IKFastKinematicsPlugin, kinematics::KinematicsBase); diff --git a/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_solver.cpp b/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_solver.cpp new file mode 100644 index 0000000..a66f637 --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_solver.cpp @@ -0,0 +1,2101 @@ +/// autogenerated analytical inverse kinematics code from ikfast program part of OpenRAVE +/// \author Rosen Diankov +/// +/// Licensed under the Apache License, Version 2.0 (the "License"); +/// you may not use this file except in compliance with the License. +/// You may obtain a copy of the License at +/// http://www.apache.org/licenses/LICENSE-2.0 +/// +/// Unless required by applicable law or agreed to in writing, software +/// distributed under the License is distributed on an "AS IS" BASIS, +/// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +/// See the License for the specific language governing permissions and +/// limitations under the License. +/// +/// ikfast version 0x10000049 generated on 2020-01-24 09:04:36.671197 +/// To compile with gcc: +/// gcc -lstdc++ ik.cpp +/// To compile without any main function as a shared object (might need -llapack): +/// gcc -fPIC -lstdc++ -DIKFAST_NO_MAIN -DIKFAST_CLIBRARY -shared -Wl,-soname,libik.so -o libik.so ik.cpp +#define IKFAST_HAS_LIBRARY +#include "ikfast.h" // found inside share/openrave-X.Y/python/ikfast.h +using namespace ikfast; + +// check if the included ikfast version matches what this file was compiled with +#define IKFAST_COMPILE_ASSERT(x) extern int __dummy[(int)x] +IKFAST_COMPILE_ASSERT(IKFAST_VERSION==0x10000049); + +#include +#include +#include +#include +#include + +#ifndef IKFAST_ASSERT +#include +#include +#include + +#ifdef _MSC_VER +#ifndef __PRETTY_FUNCTION__ +#define __PRETTY_FUNCTION__ __FUNCDNAME__ +#endif +#endif + +#ifndef __PRETTY_FUNCTION__ +#define __PRETTY_FUNCTION__ __func__ +#endif + +#define IKFAST_ASSERT(b) { if( !(b) ) { std::stringstream ss; ss << "ikfast exception: " << __FILE__ << ":" << __LINE__ << ": " <<__PRETTY_FUNCTION__ << ": Assertion '" << #b << "' failed"; throw std::runtime_error(ss.str()); } } + +#endif + +#if defined(_MSC_VER) +#define IKFAST_ALIGNED16(x) __declspec(align(16)) x +#else +#define IKFAST_ALIGNED16(x) x __attribute((aligned(16))) +#endif + +#define IK2PI ((IkReal)6.28318530717959) +#define IKPI ((IkReal)3.14159265358979) +#define IKPI_2 ((IkReal)1.57079632679490) + +#ifdef _MSC_VER +#ifndef isnan +#define isnan _isnan +#endif +#ifndef isinf +#define isinf _isinf +#endif +//#ifndef isfinite +//#define isfinite _isfinite +//#endif +#endif // _MSC_VER + +// lapack routines +extern "C" { + void dgetrf_ (const int* m, const int* n, double* a, const int* lda, int* ipiv, int* info); + void zgetrf_ (const int* m, const int* n, std::complex* a, const int* lda, int* ipiv, int* info); + void dgetri_(const int* n, const double* a, const int* lda, int* ipiv, double* work, const int* lwork, int* info); + void dgesv_ (const int* n, const int* nrhs, double* a, const int* lda, int* ipiv, double* b, const int* ldb, int* info); + void dgetrs_(const char *trans, const int *n, const int *nrhs, double *a, const int *lda, int *ipiv, double *b, const int *ldb, int *info); + void dgeev_(const char *jobvl, const char *jobvr, const int *n, double *a, const int *lda, double *wr, double *wi,double *vl, const int *ldvl, double *vr, const int *ldvr, double *work, const int *lwork, int *info); +} + +using namespace std; // necessary to get std math routines + +#ifdef IKFAST_NAMESPACE +namespace IKFAST_NAMESPACE { +#endif + +inline float IKabs(float f) { return fabsf(f); } +inline double IKabs(double f) { return fabs(f); } + +inline float IKsqr(float f) { return f*f; } +inline double IKsqr(double f) { return f*f; } + +inline float IKlog(float f) { return logf(f); } +inline double IKlog(double f) { return log(f); } + +// allows asin and acos to exceed 1. has to be smaller than thresholds used for branch conds and evaluation +#ifndef IKFAST_SINCOS_THRESH +#define IKFAST_SINCOS_THRESH ((IkReal)1e-7) +#endif + +// used to check input to atan2 for degenerate cases. has to be smaller than thresholds used for branch conds and evaluation +#ifndef IKFAST_ATAN2_MAGTHRESH +#define IKFAST_ATAN2_MAGTHRESH ((IkReal)1e-7) +#endif + +// minimum distance of separate solutions +#ifndef IKFAST_SOLUTION_THRESH +#define IKFAST_SOLUTION_THRESH ((IkReal)1e-6) +#endif + +// there are checkpoints in ikfast that are evaluated to make sure they are 0. This threshold speicfies by how much they can deviate +#ifndef IKFAST_EVALCOND_THRESH +#define IKFAST_EVALCOND_THRESH ((IkReal)0.00001) +#endif + + +inline float IKasin(float f) +{ +IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver +if( f <= -1 ) return float(-IKPI_2); +else if( f >= 1 ) return float(IKPI_2); +return asinf(f); +} +inline double IKasin(double f) +{ +IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver +if( f <= -1 ) return -IKPI_2; +else if( f >= 1 ) return IKPI_2; +return asin(f); +} + +// return positive value in [0,y) +inline float IKfmod(float x, float y) +{ + while(x < 0) { + x += y; + } + return fmodf(x,y); +} + +// return positive value in [0,y) +inline double IKfmod(double x, double y) +{ + while(x < 0) { + x += y; + } + return fmod(x,y); +} + +inline float IKacos(float f) +{ +IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver +if( f <= -1 ) return float(IKPI); +else if( f >= 1 ) return float(0); +return acosf(f); +} +inline double IKacos(double f) +{ +IKFAST_ASSERT( f > -1-IKFAST_SINCOS_THRESH && f < 1+IKFAST_SINCOS_THRESH ); // any more error implies something is wrong with the solver +if( f <= -1 ) return IKPI; +else if( f >= 1 ) return 0; +return acos(f); +} +inline float IKsin(float f) { return sinf(f); } +inline double IKsin(double f) { return sin(f); } +inline float IKcos(float f) { return cosf(f); } +inline double IKcos(double f) { return cos(f); } +inline float IKtan(float f) { return tanf(f); } +inline double IKtan(double f) { return tan(f); } +inline float IKsqrt(float f) { if( f <= 0.0f ) return 0.0f; return sqrtf(f); } +inline double IKsqrt(double f) { if( f <= 0.0 ) return 0.0; return sqrt(f); } +inline float IKatan2Simple(float fy, float fx) { + return atan2f(fy,fx); +} +inline float IKatan2(float fy, float fx) { + if( isnan(fy) ) { + IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned + return float(IKPI_2); + } + else if( isnan(fx) ) { + return 0; + } + return atan2f(fy,fx); +} +inline double IKatan2Simple(double fy, double fx) { + return atan2(fy,fx); +} +inline double IKatan2(double fy, double fx) { + if( isnan(fy) ) { + IKFAST_ASSERT(!isnan(fx)); // if both are nan, probably wrong value will be returned + return IKPI_2; + } + else if( isnan(fx) ) { + return 0; + } + return atan2(fy,fx); +} + +template +struct CheckValue +{ + T value; + bool valid; +}; + +template +inline CheckValue IKatan2WithCheck(T fy, T fx, T epsilon) +{ + CheckValue ret; + ret.valid = false; + ret.value = 0; + if( !isnan(fy) && !isnan(fx) ) { + if( IKabs(fy) >= IKFAST_ATAN2_MAGTHRESH || IKabs(fx) > IKFAST_ATAN2_MAGTHRESH ) { + ret.value = IKatan2Simple(fy,fx); + ret.valid = true; + } + } + return ret; +} + +inline float IKsign(float f) { + if( f > 0 ) { + return float(1); + } + else if( f < 0 ) { + return float(-1); + } + return 0; +} + +inline double IKsign(double f) { + if( f > 0 ) { + return 1.0; + } + else if( f < 0 ) { + return -1.0; + } + return 0; +} + +template +inline CheckValue IKPowWithIntegerCheck(T f, int n) +{ + CheckValue ret; + ret.valid = true; + if( n == 0 ) { + ret.value = 1.0; + return ret; + } + else if( n == 1 ) + { + ret.value = f; + return ret; + } + else if( n < 0 ) + { + if( f == 0 ) + { + ret.valid = false; + ret.value = (T)1.0e30; + return ret; + } + if( n == -1 ) { + ret.value = T(1.0)/f; + return ret; + } + } + + int num = n > 0 ? n : -n; + if( num == 2 ) { + ret.value = f*f; + } + else if( num == 3 ) { + ret.value = f*f*f; + } + else { + ret.value = 1.0; + while(num>0) { + if( num & 1 ) { + ret.value *= f; + } + num >>= 1; + f *= f; + } + } + + if( n < 0 ) { + ret.value = T(1.0)/ret.value; + } + return ret; +} + +/// solves the forward kinematics equations. +/// \param pfree is an array specifying the free joints of the chain. +IKFAST_API void ComputeFk(const IkReal* j, IkReal* eetrans, IkReal* eerot) { +IkReal x0,x1,x2,x3,x4,x5,x6,x7,x8,x9,x10,x11,x12,x13,x14,x15,x16,x17,x18,x19,x20,x21,x22,x23,x24,x25; +x0=IKcos(j[0]); +x1=IKsin(j[1]); +x2=IKcos(j[1]); +x3=IKsin(j[2]); +x4=IKcos(j[2]); +x5=IKcos(j[3]); +x6=IKsin(j[0]); +x7=IKsin(j[3]); +x8=IKcos(j[4]); +x9=IKsin(j[4]); +x10=((0.14203)*x3); +x11=((1.0)*x0); +x12=((1.0)*x7); +x13=((0.0715)*x3); +x14=((1.0)*x3); +x15=((1.9e-7)*x4); +x16=((0.0715)*x4); +x17=((1.9e-7)*x3); +x18=((1.0)*x4); +x19=((1.0)*x5); +x20=(x0*x2); +x21=(x2*x4); +x22=(x0*x1); +x23=(x1*x6); +x24=(x2*x6); +x25=(x1*x4); +IkReal x26=((1.0)*x22); +eetrans[0]=(((x5*((((x16*x20))+(((-1.0)*x13*x26))))))+(((0.04825)*x20))+(((0.14203)*x22))+(((0.14203)*x20*x4))+(((-1.0)*x10*x26))+((x7*(((((-1.0)*x13*x20))+(((-1.0)*x16*x26))))))+((x17*x20))+((x15*x22))); +IkReal x27=((1.0)*x23); +eetrans[1]=(((x7*(((((-1.0)*x13*x24))+(((-1.0)*x16*x27))))))+(((0.04825)*x24))+(((0.14203)*x23))+(((-1.0)*x10*x27))+(((0.14203)*x21*x6))+((x17*x24))+((x5*((((x16*x24))+(((-1.0)*x13*x27))))))+((x15*x23))); +IkReal x28=((1.0)*x16); +IkReal x29=((1.0)*x2); +eetrans[2]=((0.125)+((x7*((((x1*x13))+(((-1.0)*x2*x28))))))+((x5*(((((-1.0)*x1*x28))+(((-1.0)*x13*x29))))))+(((-1.0)*x1*x17))+(((0.14203)*x2))+(((-1.0)*x10*x29))+(((-0.14203)*x25))+(((-0.04825)*x1))+((x15*x2))); +eerot[0]=((((-1.0)*x8*((((x12*((((x11*x25))+((x11*x2*x3))))))+((x19*((((x22*x3))+(((-1.0)*x11*x21))))))))))+((x6*x9))); +eerot[1]=((((-1.0)*x11*x9))+(((-1.0)*x8*((((x19*((((x23*x3))+(((-1.0)*x18*x24))))))+((x12*((((x18*x23))+((x14*x24))))))))))); +eerot[2]=((-1.0)*x8*((((x19*((x25+((x2*x3))))))+((x12*((((x18*x2))+(((-1.0)*x1*x14))))))))); +} + +IKFAST_API int GetNumFreeParameters() { return 0; } +IKFAST_API int* GetFreeParameters() { return NULL; } +IKFAST_API int GetNumJoints() { return 5; } + +IKFAST_API int GetIkRealSize() { return sizeof(IkReal); } + +IKFAST_API int GetIkType() { return 0x56000007; } + +class IKSolver { +public: +IkReal j0,cj0,sj0,htj0,j0mul,j1,cj1,sj1,htj1,j1mul,j2,cj2,sj2,htj2,j2mul,j3,cj3,sj3,htj3,j3mul,j4,cj4,sj4,htj4,j4mul,new_r00,r00,rxp0_0,new_r01,r01,rxp0_1,new_r02,r02,rxp0_2,new_px,px,npx,new_py,py,npy,new_pz,pz,npz,pp; +unsigned char _ij0[2], _nj0,_ij1[2], _nj1,_ij2[2], _nj2,_ij3[2], _nj3,_ij4[2], _nj4; + +IkReal j100, cj100, sj100; +unsigned char _ij100[2], _nj100; +bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { +j0=numeric_limits::quiet_NaN(); _ij0[0] = -1; _ij0[1] = -1; _nj0 = -1; j1=numeric_limits::quiet_NaN(); _ij1[0] = -1; _ij1[1] = -1; _nj1 = -1; j2=numeric_limits::quiet_NaN(); _ij2[0] = -1; _ij2[1] = -1; _nj2 = -1; j3=numeric_limits::quiet_NaN(); _ij3[0] = -1; _ij3[1] = -1; _nj3 = -1; j4=numeric_limits::quiet_NaN(); _ij4[0] = -1; _ij4[1] = -1; _nj4 = -1; +for(int dummyiter = 0; dummyiter < 1; ++dummyiter) { + solutions.Clear(); +px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; + +r00 = eerot[0]; +r01 = eerot[1]; +r02 = eerot[2]; +px = eetrans[0]; py = eetrans[1]; pz = eetrans[2]; +new_r00=r00; +new_px=px; +new_r01=r01; +new_py=py; +new_r02=r02; +new_pz=((-0.125)+pz); +r00 = new_r00; r01 = new_r01; r02 = new_r02; px = new_px; py = new_py; pz = new_pz; + +pp=((px*px)+(py*py)+(pz*pz)); +{ +IkReal j0eval[1]; +j0eval[0]=((IKabs(px))+(IKabs(py))); +if( IKabs(j0eval[0]) < 0.0000010000000000 ) +{ +continue; // no branches [j0] + +} else +{ +{ +IkReal j0array[2], cj0array[2], sj0array[2]; +bool j0valid[2]={false}; +_nj0 = 2; +CheckValue x31 = IKatan2WithCheck(IkReal(((-1.0)*py)),IkReal(px),IKFAST_ATAN2_MAGTHRESH); +if(!x31.valid){ +continue; +} +IkReal x30=x31.value; +j0array[0]=((-1.0)*x30); +sj0array[0]=IKsin(j0array[0]); +cj0array[0]=IKcos(j0array[0]); +j0array[1]=((3.14159265358979)+(((-1.0)*x30))); +sj0array[1]=IKsin(j0array[1]); +cj0array[1]=IKcos(j0array[1]); +if( j0array[0] > IKPI ) +{ + j0array[0]-=IK2PI; +} +else if( j0array[0] < -IKPI ) +{ j0array[0]+=IK2PI; +} +j0valid[0] = true; +if( j0array[1] > IKPI ) +{ + j0array[1]-=IK2PI; +} +else if( j0array[1] < -IKPI ) +{ j0array[1]+=IK2PI; +} +j0valid[1] = true; +for(int ij0 = 0; ij0 < 2; ++ij0) +{ +if( !j0valid[ij0] ) +{ + continue; +} +_ij0[0] = ij0; _ij0[1] = -1; +for(int iij0 = ij0+1; iij0 < 2; ++iij0) +{ +if( j0valid[iij0] && IKabs(cj0array[ij0]-cj0array[iij0]) < IKFAST_SOLUTION_THRESH && IKabs(sj0array[ij0]-sj0array[iij0]) < IKFAST_SOLUTION_THRESH ) +{ + j0valid[iij0]=false; _ij0[1] = iij0; break; +} +} +j0 = j0array[ij0]; cj0 = cj0array[ij0]; sj0 = sj0array[ij0]; + +IkReal op[4+1], zeror[4]; +int numroots; +op[0]=((((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((-1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((-0.00422699033747949)*pz*(r01*r01)*(sj0*sj0)))+(((-7.75170003461906e-6)*(cj0*cj0)*(r00*r00)))+(((0.000537348187506967)*py*sj0*(r01*r01)))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((-0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((0.56812)*pz*(py*py)*(r02*r02)))+(((0.0019733285)*pz*r01*r02*sj0))+(((0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((-0.00845398067495898)*cj0*pz*r00*r01*sj0))+(((0.386)*pz*r01*r02*sj0*(px*px)))+(((-0.579)*px*r00*r01*sj0*(py*py)))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.193)*cj0*py*r00*r01*(pz*pz)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((-0.0751217085999278)*(pz*pz)*(r02*r02)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.0186244999997112)*px*py*r00*r01))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((-0.00143598031249303)*cj0*px*(r02*r02)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((0.386)*cj0*pz*r00*r02*(py*py)))+(((0.0111367499998556)*cj0*px*py*sj0*(r01*r01)))+(((-0.193)*px*r00*r01*sj0*(pz*pz)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((-0.193)*cj0*(px*px*px)*(r02*r02)))+(((0.56812)*r01*r02*(py*py*py)))+(((-1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((0.191141417199856)*cj0*py*pz*r00*r02*sj0))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.00422699033747949)*py*r01*r02*(sj0*sj0)))+(((0.191141417199856)*px*pz*r00*r02*(cj0*cj0)))+(((-0.0055683749999278)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.0093122499998556)*(px*px)*(r00*r00)))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-1.55034000692381e-5)*cj0*r00*r01*sj0))+(((-0.00422699033747949)*pz*(cj0*cj0)*(r00*r00)))+(((-1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((0.0055683749999278)*(py*py)*(r01*r01)*(sj0*sj0)))+(((0.000537348187506967)*cj0*py*r00*r01))+(((-2.27248)*px*py*pz*r00*r01))+(((1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.386)*cj0*px*py*pz*r01*r02))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(pz*pz)))+(((0.191141417199856)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((0.000357149629786981)*(r02*r02)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((-1.70436)*py*r01*r02*(pz*pz)))+(((0.193)*py*sj0*(px*px)*(r01*r01)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.00422699033747949)*cj0*py*r00*r02*sj0))+(((0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((-0.191141417199856)*cj0*r00*r01*sj0*(pz*pz)))+(((-0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((0.56812)*py*r01*r02*(px*px)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((0.00158175260252051)*px*r00*r02))+(((-0.00143598031249303)*py*sj0*(r02*r02)))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((0.00422699033747949)*px*r00*r02*(cj0*cj0)))+(((1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((-7.75170003461906e-6)*(r01*r01)*(sj0*sj0)))+(((0.0658094586000722)*(px*px)*(r02*r02)))+(((0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.000280271846855)*r01*r02*sj0))+(((-0.193)*cj0*px*(py*py)*(r02*r02)))+(((-0.386)*px*py*pz*r00*r02*sj0))+(((-0.386)*cj0*px*(py*py)*(r01*r01)))+(((-0.0093122499998556)*(py*py)*(r01*r01)))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-0.193)*cj0*(px*px*px)*(r00*r00)))+(((-0.579)*cj0*py*r00*r01*(px*px)))+(((-0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.000537348187506967)*px*r00*r01*sj0))+(((0.00158175260252051)*py*r01*r02))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((-0.150243417199856)*py*pz*r01*r02))+(((0.56812)*px*r00*r02*(py*py)))+(((-0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((0.000537348187506967)*cj0*px*(r00*r00)))+(((-0.386)*py*sj0*(px*px)*(r00*r00)))+(((0.0111367499998556)*px*py*r00*r01*(sj0*sj0)))+(((0.0111367499998556)*px*py*r00*r01*(cj0*cj0)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((0.56812)*pz*(px*px)*(r02*r02)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((0.56812)*r00*r02*(px*px*px)))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-1.13624)*pz*(px*px)*(r00*r00)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((-0.0955707085999278)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((0.00158175260252051)*pz*(r02*r02)))+(((0.000280271846855)*cj0*r00*r02))+(((0.193)*cj0*r00*r01*(py*py*py)))+(((-1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((-0.0055683749999278)*(cj0*cj0)*(py*py)*(r00*r00)))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((0.0111367499998556)*cj0*px*py*sj0*(r00*r00)))+(((-2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.193)*py*sj0*(px*px)*(r02*r02)))+(((-0.150243417199856)*px*pz*r00*r02))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((-1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.193)*r00*r01*sj0*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((0.0055683749999278)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((0.00422699033747949)*cj0*px*r01*r02*sj0))+(((0.0658094586000722)*(py*py)*(r02*r02)))+(((-0.193)*sj0*(py*py*py)*(r02*r02)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.0955707085999278)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((-0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((0.0019733285)*cj0*pz*r00*r02))+(((0.191141417199856)*py*pz*r01*r02*(sj0*sj0)))+(((-1.13624)*pz*(py*py)*(r01*r01)))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((-0.193)*sj0*(py*py*py)*(r01*r01)))); +op[1]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((0.00287196062498607)*cj0*py*r00*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((0.00845398067495898)*cj0*px*(r02*r02)))+(((0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((-0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.21929432)*py*pz*r01*r02))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.2855113344)*cj0*py*pz*r00*r01))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((0.2855113344)*py*pz*sj0*(r02*r02)))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.00316350520504102)*cj0*py*r00*r01))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((0.00287196062498607)*cj0*px*r01*r02*sj0))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.00574392124997213)*cj0*pz*r00*r01*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.00112108738742)*cj0*r00*r01*sj0))+(((0.21929432)*cj0*py*pz*r00*r02*sj0))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((-0.00316350520504102)*cj0*px*(r00*r00)))+(((0.21929432)*cj0*px*pz*r01*r02*sj0))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((0.00107469637501393)*pz*(r02*r02)))+(((-0.0014596053192864)*cj0*r00*r02))+(((-0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((0.2855113344)*cj0*px*pz*(r02*r02)))+(((0.00287196062498607)*py*r01*r02*(sj0*sj0)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.00056054369371)*(r02*r02)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.10964716)*(pz*pz)*(r02*r02)))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((0.00107469637501393)*py*r01*r02))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((0.00845398067495898)*py*sj0*(r02*r02)))+(((-0.2855113344)*r01*r02*sj0*(px*px)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.386)*py*r01*r02*(px*px)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((-0.00316350520504102)*py*sj0*(r01*r01)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.10964716)*(px*px)*(r02*r02)))+(((0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.2855113344)*cj0*r00*r02*(py*py)))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((-0.00316350520504102)*px*r00*r01*sj0))+(((0.386)*px*r00*r02*(py*py)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((-0.21929432)*px*pz*r00*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((0.2855113344)*cj0*px*pz*(r00*r00)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((-0.00287196062498607)*pz*(r01*r01)*(sj0*sj0)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.2855113344)*py*pz*sj0*(r01*r01)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.2855113344)*px*pz*r00*r01*sj0))+(((0.2855113344)*px*py*r00*r02*sj0))+(((0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((-0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00287196062498607)*px*r00*r02*(cj0*cj0)))+(((0.00107469637501393)*px*r00*r02))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.10964716)*(py*py)*(r02*r02)))+(((0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*px*py*r01*r02))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.0014596053192864)*r01*r02*sj0))+(((-0.00287196062498607)*pz*(cj0*cj0)*(r00*r00)))); +op[2]=((((8.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((-24.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((-8.0)*px*r00*r02*(pz*pz*pz)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((-0.153892417199856)*(px*px)*(r02*r02)))+(((0.00144410191921716)*(r01*r01)*(sj0*sj0)))+(((0.274374584400144)*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.188739834400289)*py*pz*r01*r02*(sj0*sj0)))+(((0.00144410191921716)*(cj0*cj0)*(r00*r00)))+(((-0.548749168800289)*px*py*r00*r01*(sj0*sj0)))+(((0.0943699172001444)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-24.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((8.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((0.188739834400289)*cj0*r00*r01*sj0*(pz*pz)))+(((8.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((-2.0)*(px*px*px*px)*(r02*r02)))+(((-2.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((0.32894148)*cj0*py*pz*r00*r01))+(((-4.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((-0.0186244999997112)*(px*px)*(r00*r00)))+(((4.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-0.548749168800289)*cj0*px*py*sj0*(r01*r01)))+(((8.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((-0.32894148)*cj0*r00*r02*(py*py)))+(((0.32894148)*cj0*px*pz*(r02*r02)))+(((-24.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-8.0)*(px*px)*(pz*pz)*(r00*r00)))+(((-4.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((-0.153892417199856)*(py*py)*(r02*r02)))+(((-0.274374584400144)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.0186244999997112)*(py*py)*(r01*r01)))+(((8.0)*pz*r01*r02*(py*py*py)))+(((8.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((-8.0)*py*r01*r02*(pz*pz*pz)))+(((0.270535834400289)*px*pz*r00*r02))+(((0.32894148)*px*py*r00*r02*sj0))+(((-2.0)*(pz*pz*pz*pz)*(r02*r02)))+(((-8.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((8.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-2.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((-8.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((-2.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((-8.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-8.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-0.188739834400289)*px*pz*r00*r02*(cj0*cj0)))+(((0.32894148)*cj0*px*pz*(r00*r00)))+(((-0.32894148)*r01*r02*sj0*(px*px)))+(((-4.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-16.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((0.270535834400289)*py*pz*r01*r02))+(((-2.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-4.0)*(px*px)*(py*py)*(r02*r02)))+(((-0.0372489999994224)*px*py*r00*r01))+(((8.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((4.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((0.32894148)*cj0*px*py*r01*r02))+(((-8.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((-2.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-8.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((-0.188739834400289)*cj0*py*pz*r00*r02*sj0))+(((-0.188739834400289)*cj0*px*pz*r01*r02*sj0))+(((0.32894148)*py*pz*sj0*(r01*r01)))+(((0.0943699172001444)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-0.1800046672)*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.274374584400144)*(px*px)*(r01*r01)*(sj0*sj0)))+(((8.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((4.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.00168163108113)*r01*r02*sj0))+(((-0.1800046672)*(py*py)*(r02*r02)*(sj0*sj0)))+(((4.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-16.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((8.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((8.0)*py*pz*r01*r02*(px*px)))+(((-16.0)*px*py*r00*r01*(pz*pz)))+(((-0.548749168800289)*px*py*r00*r01*(cj0*cj0)))+(((-2.0)*(py*py*py*py)*(r02*r02)))+(((4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((4.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((8.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((0.135267917200144)*(pz*pz)*(r02*r02)))+(((-16.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((8.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((8.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((8.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))+(((-0.000745306059712438)*(r02*r02)))+(((-0.274374584400144)*(py*py)*(r01*r01)*(sj0*sj0)))+(((8.0)*pz*r00*r02*(px*px*px)))+(((-0.00168163108113)*cj0*r00*r02))+(((-0.548749168800289)*cj0*px*py*sj0*(r00*r00)))+(((8.0)*px*pz*r00*r02*(py*py)))+(((0.00288820383843432)*cj0*r00*r01*sj0))+(((-8.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-8.0)*(py*py)*(pz*pz)*(r01*r01)))+(((4.0)*(py*py)*(pz*pz)*(r02*r02)))+(((-8.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((-8.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.32894148)*py*pz*sj0*(r02*r02)))+(((-8.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((-0.3600093344)*cj0*px*py*sj0*(r02*r02)))+(((0.32894148)*px*pz*r00*r01*sj0))); +op[3]=((((-0.386)*r01*r02*(py*py*py)*(sj0*sj0)))+(((0.00287196062498607)*cj0*py*r00*r02*sj0))+(((2.27248)*px*py*pz*r00*r02*sj0))+(((0.00845398067495898)*cj0*px*(r02*r02)))+(((0.10964716)*(pz*pz)*(r02*r02)))+(((-2.27248)*pz*r01*r02*sj0*(px*px)))+(((1.13624)*cj0*(px*px*px)*(r00*r00)))+(((0.386)*pz*(py*py)*(r02*r02)))+(((-0.2855113344)*px*pz*r00*r01*sj0))+(((-1.13624)*py*sj0*(px*px)*(r01*r01)))+(((0.00056054369371)*(cj0*cj0)*(r00*r00)))+(((1.13624)*cj0*(px*px*px)*(r02*r02)))+(((-0.2855113344)*cj0*px*py*r01*r02))+(((0.0014596053192864)*r01*r02*sj0))+(((-1.158)*px*r00*r02*(pz*pz)))+(((1.158)*cj0*py*r00*r02*sj0*(pz*pz)))+(((0.10964716)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-1.158)*cj0*px*r01*r02*sj0*(py*py)))+(((-0.386)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((-0.386)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*py*sj0*(px*px)*(r02*r02)))+(((-2.27248)*cj0*pz*r00*r02*(py*py)))+(((-1.544)*cj0*px*py*pz*sj0*(r02*r02)))+(((2.27248)*cj0*px*(py*py)*(r01*r01)))+(((-0.21929432)*px*py*r00*r01*(cj0*cj0)))+(((-0.386)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.2855113344)*px*py*r00*r02*sj0))+(((-0.10964716)*(py*py)*(r01*r01)*(sj0*sj0)))+(((0.386)*cj0*r00*r02*sj0*(py*py*py)))+(((0.386)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.00316350520504102)*cj0*py*r00*r01))+(((1.13624)*py*sj0*(pz*pz)*(r02*r02)))+(((0.00287196062498607)*cj0*px*r01*r02*sj0))+(((-0.772)*pz*(py*py)*(r01*r01)))+(((0.386)*r00*r02*(px*px*px)))+(((1.13624)*py*sj0*(pz*pz)*(r01*r01)))+(((0.10964716)*(px*px)*(r01*r01)*(sj0*sj0)))+(((-0.01161748588)*pz*r01*r02*sj0))+(((-0.00574392124997213)*cj0*pz*r00*r01*sj0))+(((-0.386)*r00*r02*(cj0*cj0)*(px*px*px)))+(((-0.2855113344)*cj0*px*pz*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r01*r01)))+(((-0.01161748588)*cj0*pz*r00*r02))+(((0.386)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.772)*px*r00*r02*(py*py)*(sj0*sj0)))+(((1.13624)*cj0*py*r00*r01*(pz*pz)))+(((-0.10964716)*(px*px)*(r02*r02)))+(((0.2855113344)*cj0*r00*r02*(py*py)))+(((-1.13624)*cj0*r00*r01*(py*py*py)))+(((-0.772)*py*r01*r02*(cj0*cj0)*(px*px)))+(((-0.00316350520504102)*cj0*px*(r00*r00)))+(((0.386)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-0.772)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.772)*px*py*pz*r00*r01*(sj0*sj0)))+(((-0.21929432)*py*pz*r01*r02*(sj0*sj0)))+(((-1.13624)*r00*r01*sj0*(px*px*px)))+(((0.2855113344)*r01*r02*sj0*(px*px)))+(((0.00107469637501393)*pz*(r02*r02)))+(((-0.21929432)*cj0*px*pz*r01*r02*sj0))+(((-0.21929432)*px*pz*r00*r02*(cj0*cj0)))+(((1.158)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((0.10964716)*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*px*r00*r01*sj0*(pz*pz)))+(((0.00287196062498607)*py*r01*r02*(sj0*sj0)))+(((-0.386)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((-1.13624)*cj0*px*(py*py)*(r00*r00)))+(((-1.544)*px*py*pz*r00*r01))+(((0.386)*px*r00*r02*(cj0*cj0)*(py*py)))+(((-0.2855113344)*cj0*py*pz*r00*r01))+(((-0.2855113344)*py*pz*sj0*(r01*r01)))+(((-0.772)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-0.10964716)*(py*py)*(r02*r02)))+(((0.0014596053192864)*cj0*r00*r02))+(((3.40872)*px*r00*r01*sj0*(py*py)))+(((2.27248)*py*sj0*(px*px)*(r00*r00)))+(((0.00107469637501393)*py*r01*r02))+(((1.158)*cj0*px*r01*r02*sj0*(pz*pz)))+(((0.00845398067495898)*py*sj0*(r02*r02)))+(((-0.386)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.21929432)*py*pz*r01*r02))+(((0.386)*py*r01*r02*(px*px)))+(((0.772)*cj0*px*py*pz*sj0*(r00*r00)))+(((-0.00316350520504102)*py*sj0*(r01*r01)))+(((0.772)*px*py*pz*r00*r01*(cj0*cj0)))+(((-0.21929432)*cj0*px*py*sj0*(r01*r01)))+(((1.13624)*cj0*px*(py*py)*(r02*r02)))+(((-0.10964716)*(cj0*cj0)*(px*px)*(r00*r00)))+(((0.00112108738742)*cj0*r00*r01*sj0))+(((0.386)*r01*r02*(py*py*py)))+(((-0.772)*pz*(px*px)*(r00*r00)))+(((-0.00316350520504102)*px*r00*r01*sj0))+(((0.386)*px*r00*r02*(py*py)))+(((0.21929432)*cj0*r00*r01*sj0*(pz*pz)))+(((2.27248)*cj0*px*py*pz*r01*r02))+(((1.13624)*cj0*px*(pz*pz)*(r00*r00)))+(((1.13624)*sj0*(py*py*py)*(r02*r02)))+(((-1.158)*py*r01*r02*(pz*pz)))+(((3.40872)*cj0*py*r00*r01*(px*px)))+(((-0.21929432)*px*py*r00*r01*(sj0*sj0)))+(((-0.2855113344)*cj0*px*pz*(r02*r02)))+(((-0.00287196062498607)*pz*(r01*r01)*(sj0*sj0)))+(((-1.158)*cj0*py*r00*r02*sj0*(px*px)))+(((0.386)*pz*(px*px)*(r02*r02)))+(((0.10964716)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((1.13624)*cj0*px*(pz*pz)*(r02*r02)))+(((-0.21929432)*cj0*px*py*sj0*(r00*r00)))+(((0.21929432)*px*pz*r00*r02))+(((0.386)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((-0.21929432)*cj0*py*pz*r00*r02*sj0))+(((0.00287196062498607)*px*r00*r02*(cj0*cj0)))+(((0.00107469637501393)*px*r00*r02))+(((1.158)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((0.00056054369371)*(r01*r01)*(sj0*sj0)))+(((-0.00056054369371)*(r02*r02)))+(((-0.772)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((0.772)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.2855113344)*py*pz*sj0*(r02*r02)))+(((-0.00287196062498607)*pz*(cj0*cj0)*(r00*r00)))); +op[4]=((((-0.386)*pz*r01*r02*sj0*(px*px)))+(((-1.0)*(pz*pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.000537348187506967)*cj0*px*(r00*r00)))+(((-0.00158175260252051)*py*r01*r02))+(((-4.0)*py*r00*r01*(cj0*cj0)*(px*px*px)))+(((0.193)*sj0*(py*py*py)*(r02*r02)))+(((0.00422699033747949)*pz*(r01*r01)*(sj0*sj0)))+(((-7.75170003461906e-6)*(cj0*cj0)*(r00*r00)))+(((-1.13624)*cj0*px*py*pz*sj0*(r00*r00)))+(((-12.0)*cj0*r00*r01*sj0*(px*px)*(py*py)))+(((1.13624)*cj0*r00*r01*sj0*(pz*pz*pz)))+(((-4.0)*(px*px)*(pz*pz)*(r00*r00)))+(((0.386)*cj0*px*py*pz*r01*r02))+(((0.193)*py*sj0*(px*px)*(r02*r02)))+(((1.13624)*py*r01*r02*(cj0*cj0)*(px*px)))+(((-0.05482358)*cj0*px*pz*(r00*r00)))+(((-0.56812)*cj0*r01*r02*sj0*(px*px*px)))+(((-0.05482358)*py*pz*sj0*(r02*r02)))+(((-12.0)*cj0*px*pz*r01*r02*sj0*(py*py)))+(((-0.0019733285)*pz*r01*r02*sj0))+(((-1.70436)*cj0*py*r00*r02*sj0*(pz*pz)))+(((-0.56812)*pz*(cj0*cj0)*(px*px)*(r00*r00)))+(((2.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r00*r00)))+(((-0.0751217085999278)*(pz*pz)*(r02*r02)))+(((4.0)*py*r01*r02*(pz*pz*pz)*(sj0*sj0)))+(((-0.05482358)*cj0*py*pz*r00*r01))+(((-0.05482358)*px*pz*r00*r01*sj0))+(((-0.0019733285)*cj0*pz*r00*r02))+(((4.0)*cj0*pz*r00*r02*sj0*(py*py*py)))+(((4.0)*px*py*r00*r01*(cj0*cj0)*(pz*pz)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r00*r00)))+(((-0.0186244999997112)*px*py*r00*r01))+(((-0.56812)*pz*(px*px)*(r02*r02)))+(((-8.0)*cj0*px*py*sj0*(pz*pz)*(r02*r02)))+(((4.0)*cj0*px*r01*r02*sj0*(pz*pz*pz)))+(((-1.13624)*px*py*pz*r00*r01*(sj0*sj0)))+(((-0.000537348187506967)*py*sj0*(r01*r01)))+(((0.193)*cj0*px*(py*py)*(r02*r02)))+(((0.0111367499998556)*cj0*px*py*sj0*(r01*r01)))+(((-0.56812)*pz*(py*py)*(r01*r01)*(sj0*sj0)))+(((-2.0)*(px*px)*(py*py)*(r02*r02)))+(((0.00422699033747949)*pz*(cj0*cj0)*(r00*r00)))+(((-8.0)*px*py*r00*r01*(pz*pz)))+(((1.13624)*pz*(py*py)*(r01*r01)))+(((0.56812)*(cj0*cj0)*(pz*pz*pz)*(r00*r00)))+(((0.191141417199856)*cj0*py*pz*r00*r02*sj0))+(((-0.56812)*px*r00*r02*(cj0*cj0)*(py*py)))+(((0.193)*cj0*px*(pz*pz)*(r02*r02)))+(((4.0)*px*pz*r00*r02*(cj0*cj0)*(py*py)))+(((0.579)*px*r00*r01*sj0*(py*py)))+(((0.191141417199856)*px*pz*r00*r02*(cj0*cj0)))+(((-0.0055683749999278)*(px*px)*(r01*r01)*(sj0*sj0)))+(((0.193)*py*sj0*(pz*pz)*(r02*r02)))+(((-0.0093122499998556)*(px*px)*(r00*r00)))+(((0.00143598031249303)*py*sj0*(r02*r02)))+(((4.0)*px*r00*r01*(cj0*cj0)*(py*py*py)))+(((4.0)*pz*r01*r02*(py*py*py)))+(((-0.00158175260252051)*pz*(r02*r02)))+(((-1.0)*(cj0*cj0)*(pz*pz*pz*pz)*(r00*r00)))+(((-1.55034000692381e-5)*cj0*r00*r01*sj0))+(((-0.00422699033747949)*py*r01*r02*(sj0*sj0)))+(((0.193)*cj0*px*(pz*pz)*(r00*r00)))+(((-0.05482358)*cj0*px*pz*(r02*r02)))+(((-4.0)*(cj0*cj0)*(px*px)*(pz*pz)*(r02*r02)))+(((-0.386)*cj0*pz*r00*r02*(py*py)))+(((-0.000537348187506967)*px*r00*r01*sj0))+(((0.386)*py*sj0*(px*px)*(r00*r00)))+(((-2.0)*(px*px)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*r01*r02*(py*py*py)))+(((-4.0)*py*r01*r02*(pz*pz*pz)))+(((0.0055683749999278)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.00158175260252051)*px*r00*r02))+(((2.0)*cj0*r00*r01*sj0*(py*py*py*py)))+(((0.191141417199856)*cj0*px*pz*r01*r02*sj0))+(((-1.0)*(cj0*cj0)*(px*px*px*px)*(r00*r00)))+(((2.0)*(cj0*cj0)*(px*px)*(py*py)*(r00*r00)))+(((-1.0)*(py*py*py*py)*(r01*r01)*(sj0*sj0)))+(((-0.56812)*px*r00*r02*(py*py)))+(((4.0)*py*pz*r01*r02*(px*px)))+(((0.000357149629786981)*(r02*r02)))+(((-0.1800046672)*cj0*px*py*sj0*(r02*r02)))+(((-0.193)*cj0*px*(py*py)*(r00*r00)))+(((0.56812)*r01*r02*(py*py*py)*(sj0*sj0)))+(((4.0)*cj0*px*sj0*(py*py*py)*(r00*r00)))+(((-0.05482358)*px*py*r00*r02*sj0))+(((-0.05482358)*py*pz*sj0*(r01*r01)))+(((4.0)*cj0*px*py*sj0*(pz*pz)*(r01*r01)))+(((0.193)*px*r00*r01*sj0*(pz*pz)))+(((-0.56812)*cj0*r00*r02*sj0*(py*py*py)))+(((4.0)*pz*r00*r02*(px*px*px)))+(((-8.0)*px*pz*r00*r02*(py*py)*(sj0*sj0)))+(((-2.0)*cj0*r00*r01*sj0*(pz*pz*pz*pz)))+(((-0.191141417199856)*cj0*r00*r01*sj0*(pz*pz)))+(((0.386)*px*py*pz*r00*r02*sj0))+(((1.13624)*px*r00*r02*(py*py)*(sj0*sj0)))+(((-1.70436)*px*r00*r02*(cj0*cj0)*(pz*pz)))+(((-4.0)*(py*py)*(pz*pz)*(r02*r02)*(sj0*sj0)))+(((-4.0)*(cj0*cj0)*(px*px)*(py*py)*(r01*r01)))+(((-1.0)*(cj0*cj0)*(py*py*py*py)*(r00*r00)))+(((-8.0)*py*pz*r01*r02*(cj0*cj0)*(px*px)))+(((-7.75170003461906e-6)*(r01*r01)*(sj0*sj0)))+(((2.27248)*cj0*px*py*pz*sj0*(r02*r02)))+(((0.0658094586000722)*(px*px)*(r02*r02)))+(((2.0)*(px*px)*(pz*pz)*(r02*r02)))+(((-4.0)*cj0*px*sj0*(py*py*py)*(r01*r01)))+(((0.000280271846855)*r01*r02*sj0))+(((-1.70436)*cj0*px*r01*r02*sj0*(pz*pz)))+(((-0.0093122499998556)*(py*py)*(r01*r01)))+(((-0.00422699033747949)*px*r00*r02*(cj0*cj0)))+(((-1.0)*(py*py*py*py)*(r02*r02)))+(((-1.13624)*cj0*px*py*pz*sj0*(r01*r01)))+(((-0.56812)*r00*r02*(px*px*px)))+(((-0.56812)*py*r01*r02*(px*px)))+(((1.70436)*px*r00*r02*(pz*pz)))+(((2.0)*cj0*r00*r01*sj0*(px*px*px*px)))+(((-0.56812)*py*r01*r02*(px*px)*(sj0*sj0)))+(((-2.0)*(cj0*cj0)*(py*py)*(pz*pz)*(r00*r00)))+(((-0.150243417199856)*py*pz*r01*r02))+(((0.00845398067495898)*cj0*pz*r00*r01*sj0))+(((-0.00422699033747949)*cj0*py*r00*r02*sj0))+(((0.386)*cj0*px*(py*py)*(r01*r01)))+(((0.56812)*pz*(cj0*cj0)*(py*py)*(r00*r00)))+(((1.13624)*pz*(cj0*cj0)*(px*px)*(r02*r02)))+(((-1.70436)*py*r01*r02*(pz*pz)*(sj0*sj0)))+(((1.70436)*py*r01*r02*(pz*pz)))+(((0.56812)*r00*r02*(cj0*cj0)*(px*px*px)))+(((0.0111367499998556)*px*py*r00*r01*(sj0*sj0)))+(((0.56812)*(pz*pz*pz)*(r02*r02)))+(((1.13624)*pz*(py*py)*(r02*r02)*(sj0*sj0)))+(((0.0111367499998556)*px*py*r00*r01*(cj0*cj0)))+(((0.193)*sj0*(py*py*py)*(r01*r01)))+(((-4.0)*pz*r01*r02*(py*py*py)*(sj0*sj0)))+(((-4.0)*(py*py)*(pz*pz)*(r01*r01)))+(((-1.0)*(pz*pz*pz*pz)*(r02*r02)))+(((4.0)*cj0*pz*r01*r02*sj0*(px*px*px)))+(((-0.193)*py*sj0*(px*px)*(r01*r01)))+(((-0.193)*cj0*r00*r01*(py*py*py)))+(((-4.0)*px*r00*r02*(pz*pz*pz)))+(((0.193)*cj0*(px*px*px)*(r02*r02)))+(((-0.56812)*pz*(py*py)*(r02*r02)))+(((0.56812)*(pz*pz*pz)*(r01*r01)*(sj0*sj0)))+(((-0.000537348187506967)*cj0*py*r00*r01))+(((-1.0)*(px*px*px*px)*(r01*r01)*(sj0*sj0)))+(((0.05482358)*cj0*r00*r02*(py*py)))+(((4.0)*px*r00*r02*(cj0*cj0)*(pz*pz*pz)))+(((4.0)*px*py*r00*r01*(pz*pz)*(sj0*sj0)))+(((-0.0955707085999278)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((0.00143598031249303)*cj0*px*(r02*r02)))+(((4.0)*cj0*py*r00*r02*sj0*(pz*pz*pz)))+(((0.000280271846855)*cj0*r00*r02))+(((0.193)*cj0*(px*px*px)*(r00*r00)))+(((-0.0055683749999278)*(cj0*cj0)*(py*py)*(r00*r00)))+(((4.0)*py*r00*r01*(px*px*px)*(sj0*sj0)))+(((1.13624)*pz*(px*px)*(r00*r00)))+(((0.0111367499998556)*cj0*px*py*sj0*(r00*r00)))+(((-0.0900023336)*(cj0*cj0)*(px*px)*(r02*r02)))+(((-0.150243417199856)*px*pz*r00*r02))+(((4.0)*px*pz*r00*r02*(py*py)))+(((2.0)*(py*py)*(pz*pz)*(r02*r02)))+(((0.193)*py*sj0*(pz*pz)*(r01*r01)))+(((-0.05482358)*cj0*px*py*r01*r02))+(((2.0)*(py*py)*(pz*pz)*(r01*r01)*(sj0*sj0)))+(((-4.0)*pz*r00*r02*(cj0*cj0)*(px*px*px)))+(((-4.0)*px*r00*r01*(py*py*py)*(sj0*sj0)))+(((0.0055683749999278)*(cj0*cj0)*(px*px)*(r00*r00)))+(((-1.13624)*px*py*pz*r00*r01*(cj0*cj0)))+(((0.579)*cj0*py*r00*r01*(px*px)))+(((-4.0)*(px*px)*(py*py)*(r00*r00)*(sj0*sj0)))+(((0.56812)*pz*(px*px)*(r01*r01)*(sj0*sj0)))+(((-12.0)*cj0*py*pz*r00*r02*sj0*(px*px)))+(((1.70436)*cj0*py*r00*r02*sj0*(px*px)))+(((-0.00422699033747949)*cj0*px*r01*r02*sj0))+(((0.0658094586000722)*(py*py)*(r02*r02)))+(((2.0)*(px*px)*(py*py)*(r01*r01)*(sj0*sj0)))+(((-0.0955707085999278)*(cj0*cj0)*(pz*pz)*(r00*r00)))+(((-4.0)*cj0*py*sj0*(px*px*px)*(r00*r00)))+(((0.193)*cj0*py*r00*r01*(pz*pz)))+(((4.0)*py*pz*r01*r02*(px*px)*(sj0*sj0)))+(((0.05482358)*r01*r02*sj0*(px*px)))+(((2.27248)*px*py*pz*r00*r01))+(((-0.193)*r00*r01*sj0*(px*px*px)))+(((1.70436)*cj0*px*r01*r02*sj0*(py*py)))+(((-1.0)*(px*px*px*px)*(r02*r02)))+(((0.191141417199856)*py*pz*r01*r02*(sj0*sj0)))+(((-0.0900023336)*(py*py)*(r02*r02)*(sj0*sj0)))+(((4.0)*cj0*py*sj0*(px*px*px)*(r01*r01)))); +polyroots4(op,zeror,numroots); +IkReal j1array[4], cj1array[4], sj1array[4], tempj1array[1]; +int numsolutions = 0; +for(int ij1 = 0; ij1 < numroots; ++ij1) +{ +IkReal htj1 = zeror[ij1]; +tempj1array[0]=((2.0)*(atan(htj1))); +for(int kj1 = 0; kj1 < 1; ++kj1) +{ +j1array[numsolutions] = tempj1array[kj1]; +if( j1array[numsolutions] > IKPI ) +{ + j1array[numsolutions]-=IK2PI; +} +else if( j1array[numsolutions] < -IKPI ) +{ + j1array[numsolutions]+=IK2PI; +} +sj1array[numsolutions] = IKsin(j1array[numsolutions]); +cj1array[numsolutions] = IKcos(j1array[numsolutions]); +numsolutions++; +} +} +bool j1valid[4]={true,true,true,true}; +_nj1 = 4; +for(int ij1 = 0; ij1 < numsolutions; ++ij1) + { +if( !j1valid[ij1] ) +{ + continue; +} + j1 = j1array[ij1]; cj1 = cj1array[ij1]; sj1 = sj1array[ij1]; +htj1 = IKtan(j1/2); + +_ij1[0] = ij1; _ij1[1] = -1; +for(int iij1 = ij1+1; iij1 < numsolutions; ++iij1) +{ +if( j1valid[iij1] && IKabs(cj1array[ij1]-cj1array[iij1]) < IKFAST_SOLUTION_THRESH && IKabs(sj1array[ij1]-sj1array[iij1]) < IKFAST_SOLUTION_THRESH ) +{ + j1valid[iij1]=false; _ij1[1] = iij1; break; +} +} +{ +IkReal j4array[2], cj4array[2], sj4array[2]; +bool j4valid[2]={false}; +_nj4 = 2; +sj4array[0]=(((r00*sj0))+(((-1.0)*cj0*r01))); +if( sj4array[0] >= -1-IKFAST_SINCOS_THRESH && sj4array[0] <= 1+IKFAST_SINCOS_THRESH ) +{ + j4valid[0] = j4valid[1] = true; + j4array[0] = IKasin(sj4array[0]); + cj4array[0] = IKcos(j4array[0]); + sj4array[1] = sj4array[0]; + j4array[1] = j4array[0] > 0 ? (IKPI-j4array[0]) : (-IKPI-j4array[0]); + cj4array[1] = -cj4array[0]; +} +else if( isnan(sj4array[0]) ) +{ + // probably any value will work + j4valid[0] = true; + cj4array[0] = 1; sj4array[0] = 0; j4array[0] = 0; +} +for(int ij4 = 0; ij4 < 2; ++ij4) +{ +if( !j4valid[ij4] ) +{ + continue; +} +_ij4[0] = ij4; _ij4[1] = -1; +for(int iij4 = ij4+1; iij4 < 2; ++iij4) +{ +if( j4valid[iij4] && IKabs(cj4array[ij4]-cj4array[iij4]) < IKFAST_SOLUTION_THRESH && IKabs(sj4array[ij4]-sj4array[iij4]) < IKFAST_SOLUTION_THRESH ) +{ + j4valid[iij4]=false; _ij4[1] = iij4; break; +} +} +j4 = j4array[ij4]; cj4 = cj4array[ij4]; sj4 = sj4array[ij4]; + +{ +IkReal j3eval[2]; +j3eval[0]=cj4; +j3eval[1]=IKsign(cj4); +if( IKabs(j3eval[0]) < 0.0000010000000000 || IKabs(j3eval[1]) < 0.0000010000000000 ) +{ +{ +IkReal evalcond[1]; +bool bgotonextstatement = true; +do +{ +evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); +if( IKabs(evalcond[0]) < 0.0000050000000000 ) +{ +bgotonextstatement=false; +{ +IkReal j3array[2], cj3array[2], sj3array[2]; +bool j3valid[2]={false}; +_nj3 = 2; +IkReal x32=(py*sj0); +IkReal x33=((13.9860139860015)*sj1); +IkReal x34=((4.75128617070035)*cj1); +IkReal x35=(cj0*px); +if( (((0.137082606896977)+((x34*x35))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x32*x34))+((x32*x33))+((x33*x35)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606896977)+((x34*x35))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x32*x34))+((x32*x33))+((x33*x35)))) > 1+IKFAST_SINCOS_THRESH ) + continue; +IkReal x36=IKasin(((0.137082606896977)+((x34*x35))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x32*x34))+((x32*x33))+((x33*x35)))); +j3array[0]=((-1.57079766454044)+(((-1.0)*x36))); +sj3array[0]=IKsin(j3array[0]); +cj3array[0]=IKcos(j3array[0]); +j3array[1]=((1.57079498904935)+x36); +sj3array[1]=IKsin(j3array[1]); +cj3array[1]=IKcos(j3array[1]); +if( j3array[0] > IKPI ) +{ + j3array[0]-=IK2PI; +} +else if( j3array[0] < -IKPI ) +{ j3array[0]+=IK2PI; +} +j3valid[0] = true; +if( j3array[1] > IKPI ) +{ + j3array[1]-=IK2PI; +} +else if( j3array[1] < -IKPI ) +{ j3array[1]+=IK2PI; +} +j3valid[1] = true; +for(int ij3 = 0; ij3 < 2; ++ij3) +{ +if( !j3valid[ij3] ) +{ + continue; +} +_ij3[0] = ij3; _ij3[1] = -1; +for(int iij3 = ij3+1; iij3 < 2; ++iij3) +{ +if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) +{ + j3valid[iij3]=false; _ij3[1] = iij3; break; +} +} +j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; +{ +IkReal evalcond[1]; +IkReal x37=py*py; +IkReal x38=pz*pz; +IkReal x39=px*px; +IkReal x40=(px*sj0); +IkReal x41=((2.0)*py); +IkReal x42=(cj0*py); +IkReal x43=((0.0965)*r01); +IkReal x44=(cj0*pz); +IkReal x45=((0.28406)*cj1); +IkReal x46=(r00*sj0); +IkReal x47=(py*r00); +IkReal x48=((0.28406)*sj1); +IkReal x49=(cj0*r01); +IkReal x50=((0.0965)*r02*sj1); +IkReal x51=((1.0)*x49); +evalcond[0]=((-0.0252847709000361)+(((0.0965)*pz*sj1*x46))+((px*r01*x48))+((r02*x40*x45))+(((-1.0)*x40*x50))+((r02*x41*x44))+(((-2.0)*pz*r02*x40))+(((-1.0)*sj1*x43*x44))+(((-0.02031029)*(IKcos(j3))))+((x37*x49))+((x37*x46))+((cj0*px*r00*x41))+((x38*x46))+(((-1.0)*x39*x51))+(((-1.0)*x38*x51))+(((-1.0)*r02*x42*x45))+(((-0.0225005834)*x49))+(((-1.0)*x39*x46))+((x42*x50))+((cj1*px*x43))+(((-1.0)*pz*x45*x46))+(((-1.0)*r01*x40*x41))+(((0.0225005834)*x46))+(((-1.0)*x47*x48))+(((2.717e-8)*(IKsin(j3))))+(((-0.0965)*cj1*x47))+((r01*x44*x45))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +IkReal j2eval[2]; +sj4=1.0; +cj4=0; +j4=1.5707963267949; +j2eval[0]=((-930613.577476485)+sj3+(((-747526.315789474)*cj3))); +j2eval[1]=IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +continue; // no branches [j2] + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x52=((0.14203)*pz); +IkReal x53=(cj0*px); +IkReal x54=((1.9e-7)*cj1); +IkReal x55=((0.0715)*sj1); +IkReal x56=(py*sj0); +IkReal x57=((1.9e-7)*sj1); +IkReal x58=(pz*sj3); +IkReal x59=((0.0715)*cj1); +IkReal x60=(cj3*pz); +IkReal x61=((0.14203)*cj1); +IkReal x62=(sj1*x56); +CheckValue x63 = IKatan2WithCheck(IkReal(((-0.0201725117325)+(((-1.0)*x53*x54))+((cj1*x52))+((cj3*x53*x55))+((x59*x60))+(((-0.003449875)*sj3))+((cj3*x55*x56))+(((-0.010155145)*cj3))+(((0.14203)*sj1*x53))+(((-1.0)*x55*x58))+(((-1.0)*x54*x56))+((sj3*x56*x59))+(((0.14203)*x62))+((sj3*x53*x59))+((pz*x57)))),IkReal(((0.0068529744857)+(((-1.0)*x53*x57))+(((-1.0)*x56*x61))+(((-1.0)*x56*x57))+(((-1.0)*x53*x61))+(((0.003449875)*cj3))+((sj1*x52))+((x58*x59))+(((-1.0)*cj3*x56*x59))+((sj3*x53*x55))+(((-1.0)*pz*x54))+(((-0.010155145)*sj3))+(((-1.0)*cj3*x53*x59))+((sj3*x55*x56))+((x55*x60)))),IKFAST_ATAN2_MAGTHRESH); +if(!x63.valid){ +continue; +} +CheckValue x64=IKPowWithIntegerCheck(IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))),-1); +if(!x64.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(x63.value)+(((1.5707963267949)*(x64.value)))); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[4]; +IkReal x65=IKsin(j2); +IkReal x66=IKcos(j2); +IkReal x67=(px*sj1); +IkReal x68=(py*sj1); +IkReal x69=(cj1*sj0); +IkReal x70=((1.0)*px); +IkReal x71=(pz*r00); +IkReal x72=((1.0)*r01); +IkReal x73=(cj0*r01); +IkReal x74=(pz*sj1); +IkReal x75=(r00*sj0); +IkReal x76=(cj0*cj1); +IkReal x77=((0.14203)*x65); +IkReal x78=((1.9e-7)*x66); +IkReal x79=((1.9e-7)*x65); +IkReal x80=((0.14203)*x66); +IkReal x81=((0.0715)*x65); +IkReal x82=((0.0715)*x66); +IkReal x83=(sj3*x82); +IkReal x84=(cj3*x81); +IkReal x85=(sj3*x81); +IkReal x86=(cj3*x82); +IkReal x87=(x79+x80+x86); +IkReal x88=(x77+x83+x84); +evalcond[0]=((-0.14203)+((sj0*x68))+(((-1.0)*x78))+((cj1*pz))+((cj0*x67))+x88); +evalcond[1]=((0.04825)+(((-1.0)*x70*x76))+x74+x87+(((-1.0)*x85))+(((-1.0)*py*x69))); +evalcond[2]=((((-1.0)*pz*x72*x76))+(((-1.0)*x78))+((x69*x71))+((r00*x68))+x88+(((-1.0)*r02*x69*x70))+(((-0.14203)*x75))+(((-1.0)*x67*x72))+((py*r02*x76))+(((0.14203)*x73))); +evalcond[3]=((((-1.0)*cj1*r01*x70))+(((-0.04825)*x75))+((r02*sj0*x67))+((cj1*py*r00))+x85+(((-1.0)*sj0*sj1*x71))+(((-1.0)*cj0*r02*x68))+((x73*x74))+(((-1.0)*x87))+(((0.04825)*x73))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} +} +} + +} +} while(0); +if( bgotonextstatement ) +{ +bool bgotonextstatement = true; +do +{ +evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); +if( IKabs(evalcond[0]) < 0.0000050000000000 ) +{ +bgotonextstatement=false; +{ +IkReal j3array[2], cj3array[2], sj3array[2]; +bool j3valid[2]={false}; +_nj3 = 2; +IkReal x89=(py*sj0); +IkReal x90=((13.9860139860015)*sj1); +IkReal x91=((4.75128617070035)*cj1); +IkReal x92=(cj0*px); +if( (((0.137082606896977)+((x89*x91))+((x89*x90))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+((x90*x92))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x91*x92)))) < -1-IKFAST_SINCOS_THRESH || (((0.137082606896977)+((x89*x91))+((x89*x90))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+((x90*x92))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x91*x92)))) > 1+IKFAST_SINCOS_THRESH ) + continue; +IkReal x93=IKasin(((0.137082606896977)+((x89*x91))+((x89*x90))+(((13.9860139860015)*cj1*pz))+(((-4.75128617070035)*pz*sj1))+(((-49.2361261212472)*(px*px)))+((x90*x92))+(((-49.2361261212472)*(py*py)))+(((-49.2361261212472)*(pz*pz)))+((x91*x92)))); +j3array[0]=((-1.57079766454044)+(((-1.0)*x93))); +sj3array[0]=IKsin(j3array[0]); +cj3array[0]=IKcos(j3array[0]); +j3array[1]=((1.57079498904935)+x93); +sj3array[1]=IKsin(j3array[1]); +cj3array[1]=IKcos(j3array[1]); +if( j3array[0] > IKPI ) +{ + j3array[0]-=IK2PI; +} +else if( j3array[0] < -IKPI ) +{ j3array[0]+=IK2PI; +} +j3valid[0] = true; +if( j3array[1] > IKPI ) +{ + j3array[1]-=IK2PI; +} +else if( j3array[1] < -IKPI ) +{ j3array[1]+=IK2PI; +} +j3valid[1] = true; +for(int ij3 = 0; ij3 < 2; ++ij3) +{ +if( !j3valid[ij3] ) +{ + continue; +} +_ij3[0] = ij3; _ij3[1] = -1; +for(int iij3 = ij3+1; iij3 < 2; ++iij3) +{ +if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) +{ + j3valid[iij3]=false; _ij3[1] = iij3; break; +} +} +j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; +{ +IkReal evalcond[1]; +IkReal x94=py*py; +IkReal x95=pz*pz; +IkReal x96=px*px; +IkReal x97=(px*sj0); +IkReal x98=((2.0)*py); +IkReal x99=(cj0*py); +IkReal x100=((0.0965)*r01); +IkReal x101=(cj0*pz); +IkReal x102=((0.28406)*cj1); +IkReal x103=(py*r00); +IkReal x104=((0.28406)*sj1); +IkReal x105=(r00*sj0); +IkReal x106=(cj0*r01); +IkReal x107=((0.0965)*r02*sj1); +IkReal x108=((1.0)*x106); +evalcond[0]=((0.0252847709000361)+((r02*x101*x98))+(((-1.0)*x107*x97))+(((-0.0965)*cj1*x103))+(((0.0965)*pz*sj1*x105))+((x107*x99))+(((-1.0)*r02*x102*x99))+(((-0.0225005834)*x106))+(((-1.0)*pz*x102*x105))+(((-2.717e-8)*(IKsin(j3))))+((cj0*px*r00*x98))+(((-1.0)*sj1*x100*x101))+((px*r01*x104))+((r01*x101*x102))+((x106*x94))+(((-2.0)*pz*r02*x97))+((cj1*px*x100))+((r02*x102*x97))+(((-1.0)*x103*x104))+(((0.02031029)*(IKcos(j3))))+(((-1.0)*x108*x95))+(((-1.0)*x108*x96))+((x105*x95))+((x105*x94))+(((0.0225005834)*x105))+(((-1.0)*r01*x97*x98))+(((-1.0)*x105*x96))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +IkReal j2eval[2]; +sj4=-1.0; +cj4=0; +j4=-1.5707963267949; +j2eval[0]=((-930613.577476485)+sj3+(((-747526.315789474)*cj3))); +j2eval[1]=IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +continue; // no branches [j2] + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x109=((0.14203)*pz); +IkReal x110=(cj0*px); +IkReal x111=((1.9e-7)*cj1); +IkReal x112=((0.0715)*sj1); +IkReal x113=(py*sj0); +IkReal x114=((1.9e-7)*sj1); +IkReal x115=(pz*sj3); +IkReal x116=((0.0715)*cj1); +IkReal x117=(cj3*pz); +IkReal x118=((0.14203)*cj1); +IkReal x119=(sj1*x113); +CheckValue x120 = IKatan2WithCheck(IkReal(((-0.0201725117325)+((cj3*x110*x112))+(((-1.0)*x111*x113))+((cj3*x112*x113))+(((0.14203)*sj1*x110))+((sj3*x113*x116))+(((-1.0)*x112*x115))+((sj3*x110*x116))+((cj1*x109))+((pz*x114))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+(((0.14203)*x119))+(((-1.0)*x110*x111))+((x116*x117)))),IkReal(((0.0068529744857)+((sj3*x112*x113))+((sj1*x109))+(((0.003449875)*cj3))+((x112*x117))+((sj3*x110*x112))+(((-1.0)*cj3*x113*x116))+(((-1.0)*x113*x118))+(((-1.0)*x113*x114))+(((-1.0)*x110*x118))+(((-1.0)*x110*x114))+(((-1.0)*cj3*x110*x116))+(((-0.010155145)*sj3))+((x115*x116))+(((-1.0)*pz*x111)))),IKFAST_ATAN2_MAGTHRESH); +if(!x120.valid){ +continue; +} +CheckValue x121=IKPowWithIntegerCheck(IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))),-1); +if(!x121.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(x120.value)+(((1.5707963267949)*(x121.value)))); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[4]; +IkReal x122=IKsin(j2); +IkReal x123=IKcos(j2); +IkReal x124=(px*sj1); +IkReal x125=(py*sj1); +IkReal x126=(cj1*sj0); +IkReal x127=((1.0)*px); +IkReal x128=(pz*r00); +IkReal x129=((1.0)*r01); +IkReal x130=(cj0*r01); +IkReal x131=(pz*sj1); +IkReal x132=(r00*sj0); +IkReal x133=(cj0*cj1); +IkReal x134=((1.9e-7)*x123); +IkReal x135=((0.14203)*x122); +IkReal x136=((1.9e-7)*x122); +IkReal x137=((0.14203)*x123); +IkReal x138=((0.0715)*x122); +IkReal x139=((0.0715)*x123); +IkReal x140=(sj3*x139); +IkReal x141=(cj3*x138); +IkReal x142=(cj3*x139); +IkReal x143=(sj3*x138); +IkReal x144=(x142+x137+x136); +IkReal x145=(x140+x141+x135); +evalcond[0]=((-0.14203)+((cj0*x124))+x145+((cj1*pz))+(((-1.0)*x134))+((sj0*x125))); +evalcond[1]=((0.04825)+(((-1.0)*x143))+x144+x131+(((-1.0)*py*x126))+(((-1.0)*x127*x133))); +evalcond[2]=((((-1.0)*x145))+((py*r02*x133))+(((0.14203)*x130))+(((-1.0)*pz*x129*x133))+(((-1.0)*r02*x126*x127))+x134+((r00*x125))+(((-1.0)*x124*x129))+((x126*x128))+(((-0.14203)*x132))); +evalcond[3]=((((-1.0)*x143))+(((-0.04825)*x132))+((cj1*py*r00))+x144+((r02*sj0*x124))+((x130*x131))+(((0.04825)*x130))+(((-1.0)*cj1*r01*x127))+(((-1.0)*cj0*r02*x125))+(((-1.0)*sj0*sj1*x128))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} +} +} + +} +} while(0); +if( bgotonextstatement ) +{ +bool bgotonextstatement = true; +do +{ +if( 1 ) +{ +bgotonextstatement=false; +continue; // branch miss [j2, j3] + +} +} while(0); +if( bgotonextstatement ) +{ +} +} +} +} + +} else +{ +{ +IkReal j3array[1], cj3array[1], sj3array[1]; +bool j3valid[1]={false}; +_nj3 = 1; +IkReal x146=(r01*sj0); +IkReal x147=((1.4203e+15)*pz); +IkReal x148=((68529744857000.0)*cj1); +IkReal x149=(cj0*r00); +IkReal x150=((201725117325000.0)*sj1); +IkReal x151=(py*r01); +IkReal x152=((201725117325000.0)*cj1); +IkReal x153=((1900000000.0)*pz); +IkReal x154=(px*r00); +IkReal x155=((68529744857000.0)*sj1); +IkReal x156=(py*r02*sj0); +IkReal x157=(cj0*px*r02); +CheckValue x158=IKPowWithIntegerCheck(IKsign(cj4),-1); +if(!x158.valid){ +continue; +} +CheckValue x159 = IKatan2WithCheck(IkReal((((x149*x155))+(((-1900000000.0)*x151))+(((-1900000000.0)*x154))+(((-1.4203e+15)*x156))+(((-1.4203e+15)*x157))+(((-1.0)*r02*x153))+((x146*x155))+((x147*x149))+((x146*x147))+(((135850000.0)*cj4))+(((-1.0)*x146*x152))+((r02*x148))+(((-1.0)*x149*x152))+((r02*x150)))),IkReal((((x149*x153))+(((-1900000000.0)*x156))+(((-1900000000.0)*x157))+(((-1.0)*r02*x152))+(((-1.0)*x148*x149))+((x146*x153))+(((-1.0)*x146*x148))+(((-1.0)*x146*x150))+((r02*x147))+(((1.4203e+15)*x154))+(((1.4203e+15)*x151))+(((-1.0)*x149*x150))+(((-101551450000000.0)*cj4))+((r02*x155)))),IKFAST_ATAN2_MAGTHRESH); +if(!x159.valid){ +continue; +} +j3array[0]=((-1.5707963267949)+(((1.5707963267949)*(x158.value)))+(x159.value)); +sj3array[0]=IKsin(j3array[0]); +cj3array[0]=IKcos(j3array[0]); +if( j3array[0] > IKPI ) +{ + j3array[0]-=IK2PI; +} +else if( j3array[0] < -IKPI ) +{ j3array[0]+=IK2PI; +} +j3valid[0] = true; +for(int ij3 = 0; ij3 < 1; ++ij3) +{ +if( !j3valid[ij3] ) +{ + continue; +} +_ij3[0] = ij3; _ij3[1] = -1; +for(int iij3 = ij3+1; iij3 < 1; ++iij3) +{ +if( j3valid[iij3] && IKabs(cj3array[ij3]-cj3array[iij3]) < IKFAST_SOLUTION_THRESH && IKabs(sj3array[ij3]-sj3array[iij3]) < IKFAST_SOLUTION_THRESH ) +{ + j3valid[iij3]=false; _ij3[1] = iij3; break; +} +} +j3 = j3array[ij3]; cj3 = cj3array[ij3]; sj3 = sj3array[ij3]; +{ +IkReal evalcond[4]; +IkReal x160=IKcos(j3); +IkReal x161=IKsin(j3); +IkReal x162=pz*pz; +IkReal x163=py*py; +IkReal x164=px*px; +IkReal x165=(r01*sj0); +IkReal x166=(cj0*px); +IkReal x167=((0.28406)*sj1); +IkReal x168=((0.14203)*sj1); +IkReal x169=((1.0)*r02); +IkReal x170=((0.0965)*sj1); +IkReal x171=(py*sj0); +IkReal x172=((0.0965)*cj1); +IkReal x173=(cj0*r00); +IkReal x174=(cj1*r02); +IkReal x175=((0.28406)*cj1); +IkReal x176=(r00*sj0); +IkReal x177=((0.04825)*cj1); +IkReal x178=((0.04825)*sj1); +IkReal x179=(py*r00); +IkReal x180=(cj0*r01); +IkReal x181=(px*r01); +IkReal x182=((2.0)*pz); +IkReal x183=((0.14203)*cj1); +IkReal x184=((2.0)*px*py); +IkReal x185=(px*r02*sj0); +IkReal x186=(pz*x180); +IkReal x187=((0.02031029)*x160); +IkReal x188=(cj4*x160); +IkReal x189=((2.717e-8)*x161); +IkReal x190=(cj4*x161); +IkReal x191=((1.0)*x164); +IkReal x192=(cj0*py*r02); +IkReal x193=((1.0)*x162); +evalcond[0]=((0.0027841875000361)+((pz*x175))+(((-1.0)*x189))+(((-1.0)*x193))+(((-1.0)*x191))+(((-1.0)*pz*x170))+x187+((x166*x172))+((x167*x171))+(((-1.0)*x163))+((x166*x167))+((x171*x172))); +evalcond[1]=((((-1.9e-7)*x190))+(((-1.0)*px*r00))+((x168*x173))+(((-1.0)*r02*x178))+(((0.14203)*x188))+((x173*x177))+(((-1.0)*pz*x169))+(((0.14203)*x174))+((x165*x177))+(((0.0715)*cj4))+((x165*x168))+(((-1.0)*py*r01))); +evalcond[2]=((((-1.0)*x166*x169))+((pz*x173))+(((-1.9e-7)*x188))+((pz*x165))+((x173*x178))+(((-0.14203)*x190))+(((0.04825)*x174))+((x165*x178))+(((-1.0)*x165*x183))+(((-1.0)*x169*x171))+(((-1.0)*x173*x183))+((r02*x168))); +evalcond[3]=((((-0.0252847709000361)*sj4))+((x163*x180))+((x162*x176))+((x172*x181))+((pz*x170*x176))+(((2.0)*x166*x179))+(((-1.0)*x180*x191))+(((-1.0)*x180*x193))+(((-1.0)*pz*x175*x176))+((x175*x186))+(((-1.0)*x170*x185))+(((-1.0)*x170*x186))+(((0.28406)*px*sj0*x174))+((x167*x181))+(((-1.0)*x176*x191))+((sj4*x189))+(((0.0225005834)*x176))+(((-1.0)*x165*x184))+(((-0.0225005834)*x180))+((x170*x192))+(((-1.0)*sj4*x187))+(((-0.28406)*cj0*py*x174))+((x182*x192))+((x163*x176))+(((-1.0)*x182*x185))+(((-1.0)*x172*x179))+(((-1.0)*x167*x179))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +IkReal j2eval[2]; +j2eval[0]=cj4; +j2eval[1]=IKsign(cj4); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +{ +IkReal j2eval[2]; +IkReal x194=(cj4*sj3); +IkReal x195=(cj3*cj4); +j2eval[0]=((((-747526.315789474)*x194))+(((-1.0)*x195))); +j2eval[1]=IKsign(((((-1.9e-7)*x195))+(((-0.14203)*x194)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +{ +IkReal j2eval[2]; +IkReal x196=(cj4*sj3); +IkReal x197=(cj3*cj4); +j2eval[0]=((((-1.0)*x196))+(((747526.315789474)*x197))+(((376315.789473684)*cj4))); +j2eval[1]=IKsign(((((-1.9e-7)*x196))+(((0.14203)*x197))+(((0.0715)*cj4)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +{ +IkReal evalcond[1]; +bool bgotonextstatement = true; +do +{ +evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((-1.5707963267949)+j4)))), 6.28318530717959))); +if( IKabs(evalcond[0]) < 0.0000050000000000 ) +{ +bgotonextstatement=false; +{ +IkReal j2eval[2]; +sj4=1.0; +cj4=0; +j4=1.5707963267949; +j2eval[0]=((-930613.577476485)+sj3+(((-747526.315789474)*cj3))); +j2eval[1]=IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +continue; // no branches [j2] + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x198=((0.14203)*pz); +IkReal x199=(cj0*px); +IkReal x200=((1.9e-7)*cj1); +IkReal x201=((0.0715)*sj1); +IkReal x202=(py*sj0); +IkReal x203=((1.9e-7)*sj1); +IkReal x204=(pz*sj3); +IkReal x205=((0.0715)*cj1); +IkReal x206=(cj3*pz); +IkReal x207=((0.14203)*cj1); +IkReal x208=(sj1*x202); +CheckValue x209 = IKatan2WithCheck(IkReal(((-0.0201725117325)+((cj3*x199*x201))+(((-1.0)*x200*x202))+((x205*x206))+(((-1.0)*x201*x204))+((sj3*x199*x205))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((cj3*x201*x202))+((sj3*x202*x205))+(((0.14203)*sj1*x199))+((pz*x203))+((cj1*x198))+(((-1.0)*x199*x200))+(((0.14203)*x208)))),IkReal(((0.0068529744857)+(((-1.0)*cj3*x202*x205))+(((0.003449875)*cj3))+((sj3*x199*x201))+((sj1*x198))+((x201*x206))+(((-1.0)*pz*x200))+(((-1.0)*x202*x203))+(((-1.0)*x202*x207))+(((-1.0)*cj3*x199*x205))+((x204*x205))+(((-1.0)*x199*x207))+(((-1.0)*x199*x203))+(((-0.010155145)*sj3))+((sj3*x201*x202)))),IKFAST_ATAN2_MAGTHRESH); +if(!x209.valid){ +continue; +} +CheckValue x210=IKPowWithIntegerCheck(IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))),-1); +if(!x210.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(x209.value)+(((1.5707963267949)*(x210.value)))); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[4]; +IkReal x211=IKsin(j2); +IkReal x212=IKcos(j2); +IkReal x213=(px*sj1); +IkReal x214=(py*sj1); +IkReal x215=(cj1*sj0); +IkReal x216=((1.0)*px); +IkReal x217=(pz*r00); +IkReal x218=((1.0)*r01); +IkReal x219=(cj0*r01); +IkReal x220=(pz*sj1); +IkReal x221=(r00*sj0); +IkReal x222=(cj0*cj1); +IkReal x223=((0.14203)*x211); +IkReal x224=((1.9e-7)*x212); +IkReal x225=((1.9e-7)*x211); +IkReal x226=((0.14203)*x212); +IkReal x227=((0.0715)*x211); +IkReal x228=((0.0715)*x212); +IkReal x229=(sj3*x228); +IkReal x230=(cj3*x227); +IkReal x231=(sj3*x227); +IkReal x232=(cj3*x228); +IkReal x233=(x225+x226+x232); +IkReal x234=(x229+x223+x230); +evalcond[0]=((-0.14203)+((cj0*x213))+((cj1*pz))+x234+((sj0*x214))+(((-1.0)*x224))); +evalcond[1]=((0.04825)+(((-1.0)*x216*x222))+(((-1.0)*py*x215))+(((-1.0)*x231))+x220+x233); +evalcond[2]=((((-1.0)*pz*x218*x222))+(((-0.14203)*x221))+((x215*x217))+x234+((py*r02*x222))+(((0.14203)*x219))+(((-1.0)*x213*x218))+(((-1.0)*r02*x215*x216))+((r00*x214))+(((-1.0)*x224))); +evalcond[3]=(((r02*sj0*x213))+(((-1.0)*sj0*sj1*x217))+((cj1*py*r00))+(((-1.0)*cj0*r02*x214))+((x219*x220))+(((-1.0)*x233))+x231+(((-1.0)*cj1*r01*x216))+(((0.04825)*x219))+(((-0.04825)*x221))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} + +} +} while(0); +if( bgotonextstatement ) +{ +bool bgotonextstatement = true; +do +{ +evalcond[0]=((-3.14159265358979)+(IKfmod(((3.14159265358979)+(IKabs(((1.5707963267949)+j4)))), 6.28318530717959))); +if( IKabs(evalcond[0]) < 0.0000050000000000 ) +{ +bgotonextstatement=false; +{ +IkReal j2eval[2]; +sj4=-1.0; +cj4=0; +j4=-1.5707963267949; +j2eval[0]=((-930613.577476485)+sj3+(((-747526.315789474)*cj3))); +j2eval[1]=IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))); +if( IKabs(j2eval[0]) < 0.0000010000000000 || IKabs(j2eval[1]) < 0.0000010000000000 ) +{ +continue; // no branches [j2] + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x235=((0.14203)*pz); +IkReal x236=(cj0*px); +IkReal x237=((1.9e-7)*cj1); +IkReal x238=((0.0715)*sj1); +IkReal x239=(py*sj0); +IkReal x240=((1.9e-7)*sj1); +IkReal x241=(pz*sj3); +IkReal x242=((0.0715)*cj1); +IkReal x243=(cj3*pz); +IkReal x244=((0.14203)*cj1); +IkReal x245=(sj1*x239); +CheckValue x246=IKPowWithIntegerCheck(IKsign(((-0.0252847709000361)+(((-0.02031029)*cj3))+(((2.717e-8)*sj3)))),-1); +if(!x246.valid){ +continue; +} +CheckValue x247 = IKatan2WithCheck(IkReal(((-0.0201725117325)+((cj1*x235))+(((-0.003449875)*sj3))+(((-0.010155145)*cj3))+((sj3*x239*x242))+((sj3*x236*x242))+(((-1.0)*x238*x241))+((x242*x243))+(((-1.0)*x236*x237))+(((0.14203)*x245))+((cj3*x238*x239))+(((-1.0)*x237*x239))+((pz*x240))+(((0.14203)*sj1*x236))+((cj3*x236*x238)))),IkReal(((0.0068529744857)+((sj1*x235))+(((0.003449875)*cj3))+(((-1.0)*pz*x237))+((x238*x243))+(((-1.0)*x236*x244))+(((-1.0)*x236*x240))+((x241*x242))+(((-1.0)*cj3*x236*x242))+(((-0.010155145)*sj3))+(((-1.0)*cj3*x239*x242))+(((-1.0)*x239*x244))+(((-1.0)*x239*x240))+((sj3*x238*x239))+((sj3*x236*x238)))),IKFAST_ATAN2_MAGTHRESH); +if(!x247.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x246.value)))+(x247.value)); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[4]; +IkReal x248=IKsin(j2); +IkReal x249=IKcos(j2); +IkReal x250=(px*sj1); +IkReal x251=(py*sj1); +IkReal x252=(cj1*sj0); +IkReal x253=((1.0)*px); +IkReal x254=(pz*r00); +IkReal x255=((1.0)*r01); +IkReal x256=(cj0*r01); +IkReal x257=(pz*sj1); +IkReal x258=(r00*sj0); +IkReal x259=(cj0*cj1); +IkReal x260=((1.9e-7)*x249); +IkReal x261=((0.14203)*x248); +IkReal x262=((1.9e-7)*x248); +IkReal x263=((0.14203)*x249); +IkReal x264=((0.0715)*x248); +IkReal x265=((0.0715)*x249); +IkReal x266=(sj3*x265); +IkReal x267=(cj3*x264); +IkReal x268=(cj3*x265); +IkReal x269=(sj3*x264); +IkReal x270=(x263+x262+x268); +IkReal x271=(x267+x266+x261); +evalcond[0]=((-0.14203)+((cj1*pz))+((sj0*x251))+x271+((cj0*x250))+(((-1.0)*x260))); +evalcond[1]=((0.04825)+x257+x270+(((-1.0)*py*x252))+(((-1.0)*x269))+(((-1.0)*x253*x259))); +evalcond[2]=((((-1.0)*pz*x255*x259))+(((-1.0)*x250*x255))+(((-1.0)*r02*x252*x253))+(((-0.14203)*x258))+((r00*x251))+x260+(((0.14203)*x256))+((py*r02*x259))+(((-1.0)*x271))+((x252*x254))); +evalcond[3]=((((-0.04825)*x258))+(((-1.0)*cj1*r01*x253))+((x256*x257))+((cj1*py*r00))+x270+(((-1.0)*sj0*sj1*x254))+((r02*sj0*x250))+(((-1.0)*x269))+(((-1.0)*cj0*r02*x251))+(((0.04825)*x256))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} + +} +} while(0); +if( bgotonextstatement ) +{ +bool bgotonextstatement = true; +do +{ +if( 1 ) +{ +bgotonextstatement=false; +continue; // branch miss [j2] + +} +} while(0); +if( bgotonextstatement ) +{ +} +} +} +} + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x272=((0.04825)*cj4); +IkReal x273=((0.0715)*cj3); +IkReal x274=((0.0715)*sj3); +IkReal x275=(cj1*r02); +IkReal x276=(cj4*sj3); +IkReal x277=(cj3*cj4); +IkReal x278=(pz*sj1); +IkReal x279=(r01*sj0*sj1); +IkReal x280=(cj0*r00*sj1); +IkReal x281=(cj0*cj1*px); +IkReal x282=(cj1*py*sj0); +CheckValue x283 = IKatan2WithCheck(IkReal(((((-1.0)*x273*x275))+(((-1.0)*x273*x279))+((sj3*x272))+(((-0.14203)*x280))+(((-0.14203)*x275))+(((-0.14203)*x279))+(((-1.0)*x276*x281))+(((-1.0)*x276*x282))+(((-1.0)*x273*x280))+((x276*x278)))),IkReal(((((-1.0)*x274*x275))+(((-1.0)*x274*x279))+(((1.9e-7)*x279))+(((1.9e-7)*x275))+(((-1.0)*x277*x278))+(((-1.0)*cj3*x272))+(((1.9e-7)*x280))+((x277*x281))+((x277*x282))+(((-1.0)*x274*x280)))),IKFAST_ATAN2_MAGTHRESH); +if(!x283.valid){ +continue; +} +CheckValue x284=IKPowWithIntegerCheck(IKsign(((((-1.9e-7)*x276))+(((0.0715)*cj4))+(((0.14203)*x277)))),-1); +if(!x284.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(x283.value)+(((1.5707963267949)*(x284.value)))); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[8]; +IkReal x285=IKcos(j2); +IkReal x286=IKsin(j2); +IkReal x287=py*py; +IkReal x288=px*px; +IkReal x289=pz*pz; +IkReal x290=(r01*sj0); +IkReal x291=(py*sj1); +IkReal x292=((1.0)*cj1); +IkReal x293=((0.0715)*cj3); +IkReal x294=((1.0)*sj1); +IkReal x295=(py*sj0); +IkReal x296=((0.0965)*r02); +IkReal x297=((2.0)*pz); +IkReal x298=(cj0*sj1); +IkReal x299=(pz*r01); +IkReal x300=(px*r01); +IkReal x301=(cj1*r00); +IkReal x302=((2.0)*px); +IkReal x303=((0.28406)*r02); +IkReal x304=(cj4*sj3); +IkReal x305=(cj1*r02); +IkReal x306=(cj0*py); +IkReal x307=(r02*sj1); +IkReal x308=(px*sj0); +IkReal x309=((0.0715)*sj3); +IkReal x310=((0.0252847708999639)*cj3); +IkReal x311=((0.0965)*pz); +IkReal x312=(cj0*r00); +IkReal x313=(r00*sj0); +IkReal x314=(px*r00); +IkReal x315=(py*r01); +IkReal x316=((0.28406)*pz); +IkReal x317=(cj0*r01); +IkReal x318=(sj4*x286); +IkReal x319=(cj0*px*r02); +IkReal x320=(pz*x313); +IkReal x321=((5.39714e-8)*x286); +IkReal x322=(cj4*x285); +IkReal x323=(sj4*x285); +IkReal x324=(cj4*x286); +IkReal x325=(r02*x289); +IkReal x326=(x287*x312); +evalcond[0]=(((x285*x304))+((sj1*x290))+x305+((r00*x298))+((cj3*x324))); +evalcond[1]=((((-1.0)*x286*x304))+(((-1.0)*x290*x292))+(((-1.0)*x292*x312))+x307+((cj3*x322))); +evalcond[2]=((-0.14203)+((x285*x309))+((sj0*x291))+(((-1.9e-7)*x285))+((px*x298))+((cj1*pz))+((x286*x293))+(((0.14203)*x286))); +evalcond[3]=((0.04825)+(((-1.0)*cj0*px*x292))+(((-1.0)*x286*x309))+((x285*x293))+(((1.9e-7)*x286))+(((0.14203)*x285))+((pz*sj1))+(((-1.0)*x292*x295))); +evalcond[4]=(((x293*x318))+(((-1.0)*x294*x300))+(((-1.0)*r02*x292*x308))+(((-0.14203)*x313))+((pz*sj0*x301))+(((-1.0)*cj0*x292*x299))+(((0.14203)*x318))+(((0.14203)*x317))+((x309*x323))+((r00*x291))+((x305*x306))+(((-1.9e-7)*x323))); +evalcond[5]=((((-1.0)*x292*x300))+(((0.04825)*x317))+(((-0.04825)*x313))+(((-1.0)*x293*x323))+((x309*x318))+(((-1.9e-7)*x318))+(((-1.0)*cj0*r02*x291))+(((-1.0)*x294*x320))+((x298*x299))+(((-0.14203)*x323))+((py*x301))+((x307*x308))); +evalcond[6]=((((-1.0)*x292*x326))+(((-0.0150602708999639)*x286*x304))+((x312*x316))+(((-1.0)*pz*x296))+(((-0.0965)*x314))+(((-0.0965)*x315))+((x295*x297*x305))+(((-0.0178444584)*cj1*x290))+((x287*x307))+(((2.0)*cj1*x300*x306))+((cj1*x287*x290))+(((-1.0)*x289*x290*x292))+(((0.0178444584)*x307))+(((-1.0)*cj0*px*x303))+(((-1.0)*x295*x303))+(((0.013705895)*r00*x298))+(((-1.0)*x294*x325))+(((-1.0)*x289*x292*x312))+(((-1.0)*r01*x291*x297))+(((-0.02031029)*x322))+((x288*x307))+((x290*x316))+(((-1.0)*sj1*x297*x314))+(((-0.0178444584)*cj0*x301))+(((-1.0)*x310*x322))+((cj0*px*x297*x305))+(((-1.0)*x288*x290*x292))+(((0.013705895)*x305))+(((5.39714e-8)*x285*x304))+((x295*x301*x302))+(((0.013705895)*sj1*x290))+(((-2.717e-8)*x324))+(((-1.0)*cj3*cj4*x321))+((cj0*x288*x301))); +evalcond[7]=((((-1.0)*cj0*px*x296))+(((-1.0)*x292*x325))+(((-1.0)*x291*x302*x313))+(((2.717e-8)*x322))+(((-0.0178444584)*x305))+(((-0.0178444584)*r00*x298))+(((-1.0)*x288*x294*x312))+(((-0.013705895)*cj0*x301))+(((0.0150602708999639)*x285*x304))+((x287*x305))+((x304*x321))+((r00*x287*x298))+(((-1.0)*px*r02*x297*x298))+((sj1*x289*x290))+(((-1.0)*x287*x290*x294))+((r00*x289*x298))+(((-0.0178444584)*sj1*x290))+((sj1*x288*x290))+(((-0.02031029)*x324))+((x311*x312))+((x288*x305))+(((-1.0)*r02*sj0*x291*x297))+(((-1.0)*x295*x296))+(((0.28406)*x314))+(((0.28406)*x315))+((x290*x311))+(((-2.0)*cj0*x291*x300))+(((5.39714e-8)*cj3*x322))+(((-1.0)*x310*x324))+(((-0.013705895)*cj1*x290))+(((0.013705895)*x307))+((pz*x303))+(((-1.0)*px*x297*x301))+(((-1.0)*cj1*x297*x315))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x327=((0.0715)*cj3); +IkReal x328=((0.0715)*sj3); +IkReal x329=(cj0*sj1); +IkReal x330=(cj1*r02); +IkReal x331=(cj4*sj3); +IkReal x332=(cj1*pz); +IkReal x333=(cj3*cj4); +IkReal x334=((0.14203)*x331); +IkReal x335=(r01*sj0*sj1); +IkReal x336=((1.0)*x333); +IkReal x337=(py*sj0*sj1); +CheckValue x338=IKPowWithIntegerCheck(IKsign(((((-1.9e-7)*x333))+(((-1.0)*x334)))),-1); +if(!x338.valid){ +continue; +} +CheckValue x339 = IKatan2WithCheck(IkReal(((((1.9e-7)*x330))+(((1.9e-7)*x335))+((x331*x337))+((x331*x332))+(((-1.0)*x328*x330))+(((-1.0)*x328*x335))+(((-1.0)*x334))+((px*x329*x331))+(((-1.0)*r00*x328*x329))+(((1.9e-7)*r00*x329)))),IkReal(((((0.14203)*r00*x329))+((r00*x327*x329))+(((-1.0)*px*x329*x336))+((x327*x330))+((x327*x335))+(((-1.0)*x332*x336))+(((-1.0)*x336*x337))+(((0.14203)*x330))+(((0.14203)*x335))+(((0.14203)*x333)))),IKFAST_ATAN2_MAGTHRESH); +if(!x339.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(((1.5707963267949)*(x338.value)))+(x339.value)); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[8]; +IkReal x340=IKcos(j2); +IkReal x341=IKsin(j2); +IkReal x342=py*py; +IkReal x343=px*px; +IkReal x344=pz*pz; +IkReal x345=(r01*sj0); +IkReal x346=(py*sj1); +IkReal x347=((1.0)*cj1); +IkReal x348=((0.0715)*cj3); +IkReal x349=((1.0)*sj1); +IkReal x350=(py*sj0); +IkReal x351=((0.0965)*r02); +IkReal x352=((2.0)*pz); +IkReal x353=(cj0*sj1); +IkReal x354=(pz*r01); +IkReal x355=(px*r01); +IkReal x356=(cj1*r00); +IkReal x357=((2.0)*px); +IkReal x358=((0.28406)*r02); +IkReal x359=(cj4*sj3); +IkReal x360=(cj1*r02); +IkReal x361=(cj0*py); +IkReal x362=(r02*sj1); +IkReal x363=(px*sj0); +IkReal x364=((0.0715)*sj3); +IkReal x365=((0.0252847708999639)*cj3); +IkReal x366=((0.0965)*pz); +IkReal x367=(cj0*r00); +IkReal x368=(r00*sj0); +IkReal x369=(px*r00); +IkReal x370=(py*r01); +IkReal x371=((0.28406)*pz); +IkReal x372=(cj0*r01); +IkReal x373=(sj4*x341); +IkReal x374=(cj0*px*r02); +IkReal x375=(pz*x368); +IkReal x376=((5.39714e-8)*x341); +IkReal x377=(cj4*x340); +IkReal x378=(sj4*x340); +IkReal x379=(cj4*x341); +IkReal x380=(r02*x344); +IkReal x381=(x342*x367); +evalcond[0]=(((r00*x353))+x360+((x340*x359))+((sj1*x345))+((cj3*x379))); +evalcond[1]=((((-1.0)*x347*x367))+(((-1.0)*x341*x359))+x362+(((-1.0)*x345*x347))+((cj3*x377))); +evalcond[2]=((-0.14203)+((px*x353))+((x340*x364))+((cj1*pz))+((sj0*x346))+((x341*x348))+(((-1.9e-7)*x340))+(((0.14203)*x341))); +evalcond[3]=((0.04825)+(((-1.0)*cj0*px*x347))+(((1.9e-7)*x341))+(((-1.0)*x347*x350))+((pz*sj1))+((x340*x348))+(((-1.0)*x341*x364))+(((0.14203)*x340))); +evalcond[4]=(((r00*x346))+((x364*x378))+(((-1.0)*cj0*x347*x354))+(((-1.0)*r02*x347*x363))+(((-1.9e-7)*x378))+(((-1.0)*x349*x355))+(((0.14203)*x372))+(((0.14203)*x373))+(((-0.14203)*x368))+((x348*x373))+((pz*sj0*x356))+((x360*x361))); +evalcond[5]=(((x364*x373))+((py*x356))+(((-1.9e-7)*x373))+((x353*x354))+(((-0.14203)*x378))+(((-1.0)*cj0*r02*x346))+(((0.04825)*x372))+(((-1.0)*x348*x378))+(((-1.0)*x347*x355))+(((-0.04825)*x368))+(((-1.0)*x349*x375))+((x362*x363))); +evalcond[6]=(((x367*x371))+((x350*x352*x360))+(((0.0178444584)*x362))+(((2.0)*cj1*x355*x361))+(((-0.0965)*x369))+(((-1.0)*x349*x380))+(((-0.02031029)*x377))+((x342*x362))+(((-1.0)*cj3*cj4*x376))+(((-0.0965)*x370))+((cj0*px*x352*x360))+((cj1*x342*x345))+((x343*x362))+(((0.013705895)*sj1*x345))+(((5.39714e-8)*x340*x359))+((cj0*x343*x356))+(((-1.0)*x347*x381))+(((-2.717e-8)*x379))+(((-0.0150602708999639)*x341*x359))+(((-1.0)*x344*x345*x347))+(((-1.0)*r01*x346*x352))+(((-1.0)*cj0*px*x358))+(((0.013705895)*x360))+(((-0.0178444584)*cj1*x345))+(((-1.0)*x344*x347*x367))+((x350*x356*x357))+((x345*x371))+(((-1.0)*x343*x345*x347))+(((-1.0)*sj1*x352*x369))+(((-1.0)*pz*x351))+(((-0.0178444584)*cj0*x356))+(((0.013705895)*r00*x353))+(((-1.0)*x350*x358))+(((-1.0)*x365*x377))); +evalcond[7]=((((2.717e-8)*x377))+(((-0.02031029)*x379))+((r00*x344*x353))+((x342*x360))+(((-1.0)*px*r02*x352*x353))+((x343*x360))+(((0.0150602708999639)*x340*x359))+(((-0.013705895)*cj0*x356))+((x366*x367))+(((-0.0178444584)*x360))+(((-1.0)*x347*x380))+((pz*x358))+(((-1.0)*cj0*px*x351))+((x359*x376))+(((0.013705895)*x362))+(((-1.0)*x342*x345*x349))+((r00*x342*x353))+((sj1*x343*x345))+(((-0.013705895)*cj1*x345))+((x345*x366))+(((5.39714e-8)*cj3*x377))+(((-1.0)*r02*sj0*x346*x352))+(((-2.0)*cj0*x346*x355))+(((-1.0)*x346*x357*x368))+(((0.28406)*x370))+(((-0.0178444584)*r00*x353))+(((0.28406)*x369))+(((-1.0)*cj1*x352*x370))+(((-1.0)*x343*x349*x367))+(((-1.0)*px*x352*x356))+((sj1*x344*x345))+(((-0.0178444584)*sj1*x345))+(((-1.0)*x350*x351))+(((-1.0)*x365*x379))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} + +} else +{ +{ +IkReal j2array[1], cj2array[1], sj2array[1]; +bool j2valid[1]={false}; +_nj2 = 1; +IkReal x382=((1.0)*sj1); +IkReal x383=((1.0)*sj3); +IkReal x384=(cj3*r02); +IkReal x385=(r01*sj0); +IkReal x386=(cj0*r00); +IkReal x387=(cj3*x385); +IkReal x388=(cj1*x386); +CheckValue x389 = IKatan2WithCheck(IkReal(((((-1.0)*cj1*x383*x385))+((r02*sj1*sj3))+(((-1.0)*cj3*x382*x386))+(((-1.0)*cj1*x384))+(((-1.0)*x382*x387))+(((-1.0)*x383*x388)))),IkReal((((cj3*x388))+((cj1*x387))+(((-1.0)*sj3*x382*x386))+(((-1.0)*sj3*x382*x385))+(((-1.0)*cj1*r02*x383))+(((-1.0)*x382*x384)))),IKFAST_ATAN2_MAGTHRESH); +if(!x389.valid){ +continue; +} +CheckValue x390=IKPowWithIntegerCheck(IKsign(cj4),-1); +if(!x390.valid){ +continue; +} +j2array[0]=((-1.5707963267949)+(x389.value)+(((1.5707963267949)*(x390.value)))); +sj2array[0]=IKsin(j2array[0]); +cj2array[0]=IKcos(j2array[0]); +if( j2array[0] > IKPI ) +{ + j2array[0]-=IK2PI; +} +else if( j2array[0] < -IKPI ) +{ j2array[0]+=IK2PI; +} +j2valid[0] = true; +for(int ij2 = 0; ij2 < 1; ++ij2) +{ +if( !j2valid[ij2] ) +{ + continue; +} +_ij2[0] = ij2; _ij2[1] = -1; +for(int iij2 = ij2+1; iij2 < 1; ++iij2) +{ +if( j2valid[iij2] && IKabs(cj2array[ij2]-cj2array[iij2]) < IKFAST_SOLUTION_THRESH && IKabs(sj2array[ij2]-sj2array[iij2]) < IKFAST_SOLUTION_THRESH ) +{ + j2valid[iij2]=false; _ij2[1] = iij2; break; +} +} +j2 = j2array[ij2]; cj2 = cj2array[ij2]; sj2 = sj2array[ij2]; +{ +IkReal evalcond[8]; +IkReal x391=IKcos(j2); +IkReal x392=IKsin(j2); +IkReal x393=py*py; +IkReal x394=px*px; +IkReal x395=pz*pz; +IkReal x396=(r01*sj0); +IkReal x397=(py*sj1); +IkReal x398=((1.0)*cj1); +IkReal x399=((0.0715)*cj3); +IkReal x400=((1.0)*sj1); +IkReal x401=(py*sj0); +IkReal x402=((0.0965)*r02); +IkReal x403=((2.0)*pz); +IkReal x404=(cj0*sj1); +IkReal x405=(pz*r01); +IkReal x406=(px*r01); +IkReal x407=(cj1*r00); +IkReal x408=((2.0)*px); +IkReal x409=((0.28406)*r02); +IkReal x410=(cj4*sj3); +IkReal x411=(cj1*r02); +IkReal x412=(cj0*py); +IkReal x413=(r02*sj1); +IkReal x414=(px*sj0); +IkReal x415=((0.0715)*sj3); +IkReal x416=((0.0252847708999639)*cj3); +IkReal x417=((0.0965)*pz); +IkReal x418=(cj0*r00); +IkReal x419=(r00*sj0); +IkReal x420=(px*r00); +IkReal x421=(py*r01); +IkReal x422=((0.28406)*pz); +IkReal x423=(cj0*r01); +IkReal x424=(sj4*x392); +IkReal x425=(cj0*px*r02); +IkReal x426=(pz*x419); +IkReal x427=((5.39714e-8)*x392); +IkReal x428=(cj4*x391); +IkReal x429=(sj4*x391); +IkReal x430=(cj4*x392); +IkReal x431=(r02*x395); +IkReal x432=(x393*x418); +evalcond[0]=(((sj1*x396))+((r00*x404))+((cj3*x430))+x411+((x391*x410))); +evalcond[1]=((((-1.0)*x392*x410))+x413+(((-1.0)*x398*x418))+(((-1.0)*x396*x398))+((cj3*x428))); +evalcond[2]=((-0.14203)+((px*x404))+((sj0*x397))+(((-1.9e-7)*x391))+((cj1*pz))+(((0.14203)*x392))+((x391*x415))+((x392*x399))); +evalcond[3]=((0.04825)+(((-1.0)*x392*x415))+(((-1.0)*cj0*px*x398))+((x391*x399))+(((1.9e-7)*x392))+(((-1.0)*x398*x401))+(((0.14203)*x391))+((pz*sj1))); +evalcond[4]=(((x399*x424))+((x411*x412))+(((-1.0)*r02*x398*x414))+((r00*x397))+((x415*x429))+(((-1.9e-7)*x429))+(((-1.0)*x400*x406))+((pz*sj0*x407))+(((-0.14203)*x419))+(((0.14203)*x424))+(((0.14203)*x423))+(((-1.0)*cj0*x398*x405))); +evalcond[5]=((((0.04825)*x423))+((py*x407))+(((-0.14203)*x429))+((x404*x405))+((x413*x414))+((x415*x424))+(((-1.9e-7)*x424))+(((-0.04825)*x419))+(((-1.0)*x398*x406))+(((-1.0)*x399*x429))+(((-1.0)*x400*x426))+(((-1.0)*cj0*r02*x397))); +evalcond[6]=((((0.013705895)*sj1*x396))+(((-1.0)*x416*x428))+(((5.39714e-8)*x391*x410))+(((-0.0150602708999639)*x392*x410))+((x393*x413))+((cj0*x394*x407))+(((0.013705895)*x411))+(((0.013705895)*r00*x404))+((cj0*px*x403*x411))+(((-0.0178444584)*cj1*x396))+(((0.0178444584)*x413))+((x401*x403*x411))+(((-2.717e-8)*x430))+((x418*x422))+(((-1.0)*x401*x409))+(((-1.0)*x395*x398*x418))+(((-1.0)*cj3*cj4*x427))+(((-1.0)*r01*x397*x403))+((x401*x407*x408))+((cj1*x393*x396))+(((2.0)*cj1*x406*x412))+(((-1.0)*x400*x431))+(((-1.0)*x398*x432))+((x394*x413))+(((-1.0)*sj1*x403*x420))+(((-0.0178444584)*cj0*x407))+(((-0.0965)*x420))+(((-0.0965)*x421))+(((-1.0)*pz*x402))+(((-1.0)*x394*x396*x398))+(((-1.0)*x395*x396*x398))+((x396*x422))+(((-0.02031029)*x428))+(((-1.0)*cj0*px*x409))); +evalcond[7]=((((-1.0)*cj1*x403*x421))+((r00*x395*x404))+((pz*x409))+(((-0.013705895)*cj0*x407))+((x393*x411))+(((-1.0)*x416*x430))+((x410*x427))+(((0.013705895)*x413))+(((0.0150602708999639)*x391*x410))+(((-2.0)*cj0*x397*x406))+(((-0.0178444584)*sj1*x396))+(((5.39714e-8)*cj3*x428))+(((-0.013705895)*cj1*x396))+(((-1.0)*x401*x402))+(((0.28406)*x421))+(((0.28406)*x420))+((x417*x418))+(((2.717e-8)*x428))+(((-1.0)*px*r02*x403*x404))+(((-0.0178444584)*x411))+((r00*x393*x404))+((sj1*x395*x396))+(((-1.0)*x398*x431))+(((-1.0)*r02*sj0*x397*x403))+((x394*x411))+(((-1.0)*x394*x400*x418))+(((-0.0178444584)*r00*x404))+(((-1.0)*px*x403*x407))+((sj1*x394*x396))+(((-1.0)*x393*x396*x400))+(((-0.02031029)*x430))+(((-1.0)*x397*x408*x419))+(((-1.0)*cj0*px*x402))+((x396*x417))); +if( IKabs(evalcond[0]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[1]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[2]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[3]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[4]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[5]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[6]) > IKFAST_EVALCOND_THRESH || IKabs(evalcond[7]) > IKFAST_EVALCOND_THRESH ) +{ +continue; +} +} + +{ +std::vector > vinfos(5); +vinfos[0].jointtype = 1; +vinfos[0].foffset = j0; +vinfos[0].indices[0] = _ij0[0]; +vinfos[0].indices[1] = _ij0[1]; +vinfos[0].maxsolutions = _nj0; +vinfos[1].jointtype = 1; +vinfos[1].foffset = j1; +vinfos[1].indices[0] = _ij1[0]; +vinfos[1].indices[1] = _ij1[1]; +vinfos[1].maxsolutions = _nj1; +vinfos[2].jointtype = 1; +vinfos[2].foffset = j2; +vinfos[2].indices[0] = _ij2[0]; +vinfos[2].indices[1] = _ij2[1]; +vinfos[2].maxsolutions = _nj2; +vinfos[3].jointtype = 1; +vinfos[3].foffset = j3; +vinfos[3].indices[0] = _ij3[0]; +vinfos[3].indices[1] = _ij3[1]; +vinfos[3].maxsolutions = _nj3; +vinfos[4].jointtype = 1; +vinfos[4].foffset = j4; +vinfos[4].indices[0] = _ij4[0]; +vinfos[4].indices[1] = _ij4[1]; +vinfos[4].maxsolutions = _nj4; +std::vector vfree(0); +solutions.AddSolution(vinfos,vfree); +} +} +} + +} + +} +} +} + +} + +} +} +} + } +} +} + +} + +} +} +return solutions.GetNumSolutions()>0; +} +static inline void polyroots3(IkReal rawcoeffs[3+1], IkReal rawroots[3], int& numroots) +{ + using std::complex; + if( rawcoeffs[0] == 0 ) { + // solve with one reduced degree + polyroots2(&rawcoeffs[1], &rawroots[0], numroots); + return; + } + IKFAST_ASSERT(rawcoeffs[0] != 0); + const IkReal tol = 128.0*std::numeric_limits::epsilon(); + const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); + complex coeffs[3]; + const int maxsteps = 110; + for(int i = 0; i < 3; ++i) { + coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); + } + complex roots[3]; + IkReal err[3]; + roots[0] = complex(1,0); + roots[1] = complex(0.4,0.9); // any complex number not a root of unity works + err[0] = 1.0; + err[1] = 1.0; + for(int i = 2; i < 3; ++i) { + roots[i] = roots[i-1]*roots[1]; + err[i] = 1.0; + } + for(int step = 0; step < maxsteps; ++step) { + bool changed = false; + for(int i = 0; i < 3; ++i) { + if ( err[i] >= tol ) { + changed = true; + // evaluate + complex x = roots[i] + coeffs[0]; + for(int j = 1; j < 3; ++j) { + x = roots[i] * x + coeffs[j]; + } + for(int j = 0; j < 3; ++j) { + if( i != j ) { + if( roots[i] != roots[j] ) { + x /= (roots[i] - roots[j]); + } + } + } + roots[i] -= x; + err[i] = abs(x); + } + } + if( !changed ) { + break; + } + } + + numroots = 0; + bool visited[3] = {false}; + for(int i = 0; i < 3; ++i) { + if( !visited[i] ) { + // might be a multiple root, in which case it will have more error than the other roots + // find any neighboring roots, and take the average + complex newroot=roots[i]; + int n = 1; + for(int j = i+1; j < 3; ++j) { + // care about error in real much more than imaginary + if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { + newroot += roots[j]; + n += 1; + visited[j] = true; + } + } + if( n > 1 ) { + newroot /= n; + } + // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt + if( IKabs(imag(newroot)) < tolsqrt ) { + rawroots[numroots++] = real(newroot); + } + } + } +} +static inline void polyroots2(IkReal rawcoeffs[2+1], IkReal rawroots[2], int& numroots) { + IkReal det = rawcoeffs[1]*rawcoeffs[1]-4*rawcoeffs[0]*rawcoeffs[2]; + if( det < 0 ) { + numroots=0; + } + else if( det == 0 ) { + rawroots[0] = -0.5*rawcoeffs[1]/rawcoeffs[0]; + numroots = 1; + } + else { + det = IKsqrt(det); + rawroots[0] = (-rawcoeffs[1]+det)/(2*rawcoeffs[0]); + rawroots[1] = (-rawcoeffs[1]-det)/(2*rawcoeffs[0]);//rawcoeffs[2]/(rawcoeffs[0]*rawroots[0]); + numroots = 2; + } +} +static inline void polyroots4(IkReal rawcoeffs[4+1], IkReal rawroots[4], int& numroots) +{ + using std::complex; + if( rawcoeffs[0] == 0 ) { + // solve with one reduced degree + polyroots3(&rawcoeffs[1], &rawroots[0], numroots); + return; + } + IKFAST_ASSERT(rawcoeffs[0] != 0); + const IkReal tol = 128.0*std::numeric_limits::epsilon(); + const IkReal tolsqrt = sqrt(std::numeric_limits::epsilon()); + complex coeffs[4]; + const int maxsteps = 110; + for(int i = 0; i < 4; ++i) { + coeffs[i] = complex(rawcoeffs[i+1]/rawcoeffs[0]); + } + complex roots[4]; + IkReal err[4]; + roots[0] = complex(1,0); + roots[1] = complex(0.4,0.9); // any complex number not a root of unity works + err[0] = 1.0; + err[1] = 1.0; + for(int i = 2; i < 4; ++i) { + roots[i] = roots[i-1]*roots[1]; + err[i] = 1.0; + } + for(int step = 0; step < maxsteps; ++step) { + bool changed = false; + for(int i = 0; i < 4; ++i) { + if ( err[i] >= tol ) { + changed = true; + // evaluate + complex x = roots[i] + coeffs[0]; + for(int j = 1; j < 4; ++j) { + x = roots[i] * x + coeffs[j]; + } + for(int j = 0; j < 4; ++j) { + if( i != j ) { + if( roots[i] != roots[j] ) { + x /= (roots[i] - roots[j]); + } + } + } + roots[i] -= x; + err[i] = abs(x); + } + } + if( !changed ) { + break; + } + } + + numroots = 0; + bool visited[4] = {false}; + for(int i = 0; i < 4; ++i) { + if( !visited[i] ) { + // might be a multiple root, in which case it will have more error than the other roots + // find any neighboring roots, and take the average + complex newroot=roots[i]; + int n = 1; + for(int j = i+1; j < 4; ++j) { + // care about error in real much more than imaginary + if( abs(real(roots[i])-real(roots[j])) < tolsqrt && abs(imag(roots[i])-imag(roots[j])) < 0.002 ) { + newroot += roots[j]; + n += 1; + visited[j] = true; + } + } + if( n > 1 ) { + newroot /= n; + } + // there are still cases where even the mean is not accurate enough, until a better multi-root algorithm is used, need to use the sqrt + if( IKabs(imag(newroot)) < tolsqrt ) { + rawroots[numroots++] = real(newroot); + } + } + } +} +}; + + +/// solves the inverse kinematics equations. +/// \param pfree is an array specifying the free joints of the chain. +IKFAST_API bool ComputeIk(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions) { +IKSolver solver; +return solver.ComputeIk(eetrans,eerot,pfree,solutions); +} + +IKFAST_API bool ComputeIk2(const IkReal* eetrans, const IkReal* eerot, const IkReal* pfree, IkSolutionListBase& solutions, void* pOpenRAVEManip) { +IKSolver solver; +return solver.ComputeIk(eetrans,eerot,pfree,solutions); +} + +IKFAST_API const char* GetKinematicsHash() { return "cd76f5f7a40336204935d0b321108a23"; } + +IKFAST_API const char* GetIkFastVersion() { return "0x10000049"; } + +#ifdef IKFAST_NAMESPACE +} // end namespace +#endif + +#ifndef IKFAST_NO_MAIN +#include +#include +#ifdef IKFAST_NAMESPACE +using namespace IKFAST_NAMESPACE; +#endif +int main(int argc, char** argv) +{ + if( argc != 12+GetNumFreeParameters()+1 ) { + printf("\nUsage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...\n\n" + "Returns the ik solutions given the transformation of the end effector specified by\n" + "a 3x3 rotation R (rXX), and a 3x1 translation (tX).\n" + "There are %d free parameters that have to be specified.\n\n",GetNumFreeParameters()); + return 1; + } + + IkSolutionList solutions; + std::vector vfree(GetNumFreeParameters()); + IkReal eerot[9],eetrans[3]; + eerot[0] = atof(argv[1]); eerot[1] = atof(argv[2]); eerot[2] = atof(argv[3]); eetrans[0] = atof(argv[4]); + eerot[3] = atof(argv[5]); eerot[4] = atof(argv[6]); eerot[5] = atof(argv[7]); eetrans[1] = atof(argv[8]); + eerot[6] = atof(argv[9]); eerot[7] = atof(argv[10]); eerot[8] = atof(argv[11]); eetrans[2] = atof(argv[12]); + for(std::size_t i = 0; i < vfree.size(); ++i) + vfree[i] = atof(argv[13+i]); + bool bSuccess = ComputeIk(eetrans, eerot, vfree.size() > 0 ? &vfree[0] : NULL, solutions); + + if( !bSuccess ) { + fprintf(stderr,"Failed to get ik solution\n"); + return -1; + } + + printf("Found %d ik solutions:\n", (int)solutions.GetNumSolutions()); + std::vector solvalues(GetNumJoints()); + for(std::size_t i = 0; i < solutions.GetNumSolutions(); ++i) { + const IkSolutionBase& sol = solutions.GetSolution(i); + printf("sol%d (free=%d): ", (int)i, (int)sol.GetFree().size()); + std::vector vsolfree(sol.GetFree().size()); + sol.GetSolution(&solvalues[0],vsolfree.size()>0?&vsolfree[0]:NULL); + for( std::size_t j = 0; j < solvalues.size(); ++j) + printf("%.15f, ", solvalues[j]); + printf("\n"); + } + return 0; +} + +#endif diff --git a/widowx_arm_widowx_arm_ikfast_plugin/update_ikfast_plugin.sh b/widowx_arm_widowx_arm_ikfast_plugin/update_ikfast_plugin.sh new file mode 100644 index 0000000..6fa1281 --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/update_ikfast_plugin.sh @@ -0,0 +1 @@ +rosrun moveit_kinematics create_ikfast_moveit_plugin.py --search_mode=OPTIMIZE_MAX_JOINT --srdf_filename=widowx_arm.srdf --robot_name_in_srdf=widowx_arm --moveit_config_pkg=widowx_arm_moveit_config widowx_arm widowx_arm widowx_arm_widowx_arm_ikfast_plugin arm_base_link wrist_2_link /home/gouda/grasping/ros_ws/src/widowx_arm/widowx_arm_widowx_arm_ikfast_plugin/src/widowx_arm_widowx_arm_ikfast_solver.cpp \ No newline at end of file diff --git a/widowx_arm_widowx_arm_ikfast_plugin/widowx_arm_widowx_arm_moveit_ikfast_plugin_description.xml b/widowx_arm_widowx_arm_ikfast_plugin/widowx_arm_widowx_arm_moveit_ikfast_plugin_description.xml new file mode 100644 index 0000000..1039b2d --- /dev/null +++ b/widowx_arm_widowx_arm_ikfast_plugin/widowx_arm_widowx_arm_moveit_ikfast_plugin_description.xml @@ -0,0 +1,6 @@ + + + + IKFast61 plugin for closed-form kinematics of widowx_arm widowx_arm + +