Iktype questions

[Peter]

Hello

    I have already read this doc first, http://openrave.org/docs/latest_stable/openravepy/ikfast/ 
    but there are a few questions about iktype need your help,



1. Transform6D = Translation3D + Rotation3D?

2. If I have a cpp file generated with Direction3D. What parameters should I give in below command?
 
    ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ...

    And how about Lookat3D?


Thanks a lot for your help !!