23 #include "katana6M180.h"
24 #include "../manipulator.h"
43 OpenRaveManipulatorKatana6M180::OpenRaveManipulatorKatana6M180(
unsigned int count,
unsigned int countDevice) :
63 OpenRaveManipulatorKatana6M180::angle_OR_to_device(
unsigned int number,
float angle)
const
69 _angle = angle + M_PI;
72 _angle = angle + M_PI/2;
75 _angle = angle + M_PI;
78 _angle = M_PI - angle;
81 _angle = 1.5*M_PI - angle;
97 OpenRaveManipulatorKatana6M180::angle_device_to_OR(
unsigned int number,
float angle)
const
103 _angle = angle - M_PI;
106 _angle = angle - M_PI/2;
109 _angle = angle - M_PI;
112 _angle = M_PI - angle;
115 _angle = 1.5*M_PI - angle;
Fawkes library namespace.
Class containing information about all manipulator motors.
virtual ~OpenRaveManipulatorKatana6M180()
Destructor.