PR2 FastIK

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PR2 FastIK

Caelan
Hello,

I'm trying to use IK for the PR2 robot, and while I managed to navigate past some sympy issues, I'm getting the following errors when compiling the created c++ code. I don't see tj15 used anywhere in the codebase, and it is never assigned. I attached the full ik.cpp file generated. Thanks!

/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2285:47: error:
      use of undeclared identifier 'tj15'
CheckValue<IkReal> x864=IKPowWithIntegerCheck(tj15,-1);
                                              ^
/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2291:22: error:
      use of undeclared identifier 'tj15'
IkReal x861=(cj15*py*tj15*x855);
                     ^
/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2296:51: error:
      use of undeclared identifier 'tj15'
evalcond[2]=((-0.5768)+(((-0.08)*x856))+((cj15*py*tj15*x858))+((cj15*py*x858*x859)));
                                                  ^
/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2363:47: error:
      use of undeclared identifier 'tj15'
CheckValue<IkReal> x874=IKPowWithIntegerCheck(tj15,-1);
                                              ^
/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2369:22: error:
      use of undeclared identifier 'tj15'
IkReal x871=(cj15*py*tj15*x865);
                     ^
/Users/caelan/.openrave/kinematics.72948cfc3ff77d3858ae895ad25226f4/ikfast0x10000048.Transform6D.x86_64.15_16_18_19_20_21_f12_17.cpp:2374:51: error:
      use of undeclared identifier 'tj15'
evalcond[2]=((-0.0632)+(((-0.08)*x866))+((cj15*py*tj15*x868))+((cj15*py*x868*x869)));
                                                  ^
6 errors generated.
Exception in thread Thread-1:
Traceback (most recent call last):
  File "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 810, in __bootstrap_inner
    self.run()
  File "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/threading.py", line 763, in run
    self.__target(*self.__args, **self.__kwargs)
  File "/usr/local/lib/python2.7/site-packages/openravepy/_openravepy_/misc.py", line 108, in localuserfn
    userfn()
  File "test.py", line 84, in <lambda>
    SetViewerUserThread(env, 'qtcoin', lambda: grab(env))
  File "test.py", line 63, in grab
    ikmodel.autogenerate()
  File "/usr/local/lib/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 646, in autogenerate
    self.generate(iktype=iktype,freejoints=freejoints,precision=precision,forceikbuild=forceikbuild,outputlang=outputlang,ipython=ipython)
  File "/usr/local/lib/python2.7/site-packages/openravepy/_openravepy_/databases/inversekinematics.py", line 907, in generate
    objectfiles = compiler.compile(sources=[platformsourcefilename],macros=[('IKFAST_CLIBRARY',1),('IKFAST_NO_MAIN',1)],extra_postargs=compile_flags,output_dir=output_dir)
  File "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/distutils/ccompiler.py", line 574, in compile
    self._compile(obj, src, ext, cc_args, extra_postargs, pp_opts)
  File "/opt/local/Library/Frameworks/Python.framework/Versions/2.7/lib/python2.7/distutils/unixccompiler.py", line 122, in _compile
    raise CompileError, msg
CompileError: command 'cc' failed with exit status 1

ik.cpp
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