libKinematics.cpp File Reference

#include "libKinematics.h"
#include <stdio.h>
#include <vector>
#include <iostream>
#include <string>
#include <cmath>
#include <fstream>
#include <ctime>
#include "kinematics.h"

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Functions
int	kin_clean ()
int	kin_DK (FloatVector *angle, FloatVector *pose)
int	kin_enc2rad (IntVector *enc, FloatVector *angle)
int	kin_getAngOff (FloatVector *angleOffset)
int	kin_getAngRan (FloatVector *angleRange)
int	kin_getDOF ()
int	kin_getDOM ()
int	kin_getEncOff (IntVector *encOffset)
int	kin_getEPC (IntVector *epc)
int	kin_getImmob ()
int	kin_getMaxDOF ()
int	kin_getMDH (FloatVector *theta, FloatVector *d, FloatVector *a, FloatVector *alpha)
int	kin_getRotDir (IntVector *rotDir)
int	kin_getTcpOff (FloatVector *tcpOffset)
int	kin_getType ()
int	kin_getVersion (IntVector *version)
int	kin_IK (FloatVector *pose, FloatVector *prev, FloatVector *angle, int maxBisection)
int	kin_init ()
int	kin_K4D2mDHAng (FloatVector *angleK4D, FloatVector *angleMDH)
int	kin_mDH2K4DAng (FloatVector *angleMDH, FloatVector *angleK4D)
int	kin_rad2enc (FloatVector *angle, IntVector *enc)
int	kin_setAngOff (FloatVector *angleOffset)
int	kin_setAngRan (FloatVector *angleRange)
int	kin_setEncOff (IntVector *encOffset)
int	kin_setEPC (IntVector *epc)
int	kin_setImmob (int immobile)
int	kin_setLinkLen (FloatVector *links)
int	kin_setMDH (FloatVector *theta, FloatVector *d, FloatVector *a, FloatVector *alpha, int typeNr)
int	kin_setRotDir (IntVector *rotDir)
int	kin_setTcpOff (FloatVector *tcpOffset)
int	kin_setType (int type)
Variables
KinematicsLib *	_kinematics
bool	LibInstantiated = false

---

Function Documentation

int kin_clean

(

)

Definition at line 320 of file libKinematics.cpp.

int kin_DK	(	FloatVector *	angle,
		FloatVector *	pose
	)

Definition at line 395 of file libKinematics.cpp.

int kin_enc2rad	(	IntVector *	enc,
		FloatVector *	angle
	)

Definition at line 361 of file libKinematics.cpp.

int kin_getAngOff

(

FloatVector *

angleOffset

)

Definition at line 241 of file libKinematics.cpp.

int kin_getAngRan

(

FloatVector *

angleRange

)

Definition at line 258 of file libKinematics.cpp.

int kin_getDOF

(

)

Definition at line 152 of file libKinematics.cpp.

int kin_getDOM

(

)

Definition at line 158 of file libKinematics.cpp.

int kin_getEncOff

(

IntVector *

encOffset

)

Definition at line 207 of file libKinematics.cpp.

int kin_getEPC

(

IntVector *

epc

)

Definition at line 190 of file libKinematics.cpp.

int kin_getImmob

(

)

Definition at line 184 of file libKinematics.cpp.

int kin_getMaxDOF

(

)

Definition at line 146 of file libKinematics.cpp.

int kin_getMDH	(	FloatVector *	theta,
		FloatVector *	d,
		FloatVector *	a,
		FloatVector *	alpha
	)

Definition at line 164 of file libKinematics.cpp.

int kin_getRotDir

(

IntVector *

rotDir

)

Definition at line 224 of file libKinematics.cpp.

int kin_getTcpOff

(

FloatVector *

tcpOffset

)

Definition at line 275 of file libKinematics.cpp.

int kin_getType

(

)

Definition at line 140 of file libKinematics.cpp.

int kin_getVersion

(

IntVector *

version

)

Definition at line 288 of file libKinematics.cpp.

int kin_IK	(	FloatVector *	pose,
		FloatVector *	prev,
		FloatVector *	angle,
		int	maxBisection
	)

Definition at line 411 of file libKinematics.cpp.

int kin_init

(

)

Definition at line 310 of file libKinematics.cpp.

int kin_K4D2mDHAng	(	FloatVector *	angleK4D,
		FloatVector *	angleMDH
	)

Definition at line 329 of file libKinematics.cpp.

int kin_mDH2K4DAng	(	FloatVector *	angleMDH,
		FloatVector *	angleK4D
	)

Definition at line 345 of file libKinematics.cpp.

int kin_rad2enc	(	FloatVector *	angle,
		IntVector *	enc
	)

Definition at line 378 of file libKinematics.cpp.

int kin_setAngOff

(

FloatVector *

angleOffset

)

Definition at line 101 of file libKinematics.cpp.

int kin_setAngRan

(

FloatVector *

angleRange

)

Definition at line 113 of file libKinematics.cpp.

int kin_setEncOff

(

IntVector *

encOffset

)

Definition at line 77 of file libKinematics.cpp.

int kin_setEPC

(

IntVector *

epc

)

Definition at line 65 of file libKinematics.cpp.

int kin_setImmob

(

int

immobile

)

Definition at line 57 of file libKinematics.cpp.

int kin_setLinkLen

(

FloatVector *

links

)

Definition at line 45 of file libKinematics.cpp.

int kin_setMDH	(	FloatVector *	theta,
		FloatVector *	d,
		FloatVector *	a,
		FloatVector *	alpha,
		int	typeNr
	)

Definition at line 28 of file libKinematics.cpp.

int kin_setRotDir

(

IntVector *

rotDir

)

Definition at line 89 of file libKinematics.cpp.

int kin_setTcpOff

(

FloatVector *

tcpOffset

)

Definition at line 126 of file libKinematics.cpp.

int kin_setType

(

int

type

)

Definition at line 21 of file libKinematics.cpp.

---

Variable Documentation

KinematicsLib* _kinematics

Definition at line 16 of file libKinematics.cpp.

bool LibInstantiated = false

Definition at line 17 of file libKinematics.cpp.