KNI::KatanaKinematics5M180 Class Reference

#include <KatanaKinematics5M180.h>

Inheritance diagram for KNI::KatanaKinematics5M180:
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List of all members.

Classes

struct  angles_calc
struct  position

Public Member Functions

void init (metrics const &length, parameter_container const &parameters)
 Initialize the parameters for the calculations.
void DK (coordinates &solution, encoders const &current_encoders) const
 Direct Kinematic.
void IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
 Inverse Kinematic.

Private Types

typedef std::vector< angles_calcangles_container

Private Member Functions

void _setLength (metrics const &length)
void _setParameters (parameter_container const &parameters)

Private Attributes

metrics _length
parameter_container _parameters

Static Private Attributes

static const double _tolerance
static const int _nrOfPossibleSolutions

Detailed Description

Author:
Tiziano Mueller <tiziano.mueller@neuronics.ch>
Christoph Voser <christoph.voser@neuronics.ch>

Definition at line 39 of file KatanaKinematics5M180.h.


Member Typedef Documentation

Definition at line 70 of file KatanaKinematics5M180.h.


Member Function Documentation

void KNI::KatanaKinematics5M180::_setLength ( metrics const &  length  )  [inline, private]

Definition at line 78 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::_setParameters ( parameter_container const &  parameters  )  [inline, private]

Definition at line 79 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::DK ( coordinates solution,
encoders const &  current_encoders 
) const [virtual]

Direct Kinematic.

Calculates the actual position in cartesian coordinates using the given encoders

Parameters:
solution This is where the algorithm will store the solution to (in cartesian coordinates)
current_encoders The encoder values which are being used for the calculation
Note:
strong guarantee provided

Implements KNI::KatanaKinematics.

void KNI::KatanaKinematics5M180::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const [virtual]

Inverse Kinematic.

Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.

Parameters:
solution This is where the algorithm will store the solution to (in encoders)
pose The target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_angles The current angles (in encoders) of the robot
Note:
strong guarantee provided

Implements KNI::KatanaKinematics.

void KNI::KatanaKinematics5M180::init ( metrics const &  length,
parameter_container const &  parameters 
) [virtual]

Initialize the parameters for the calculations.

This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type

Implements KNI::KatanaKinematics.


Member Data Documentation

Definition at line 72 of file KatanaKinematics5M180.h.

Definition at line 76 of file KatanaKinematics5M180.h.

Definition at line 73 of file KatanaKinematics5M180.h.

const double KNI::KatanaKinematics5M180::_tolerance [static, private]

Definition at line 75 of file KatanaKinematics5M180.h.


The documentation for this class was generated from the following file:

Generated on 21 Feb 2010 for KatanaNativeInterface by  doxygen 1.6.1