AnaGuess::Kinematics Class Reference

Base Class for the kinematics implementations. More...

#include <kinematics.h>

Inheritance diagram for AnaGuess::Kinematics:

List of all members.

Public Member Functions
virtual bool	directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)=0
virtual bool	enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)=0
virtual std::vector< double >	getAngMax ()=0
	get angle max
virtual std::vector< double >	getAngMin ()=0
	get angle min
virtual std::vector< double >	getAngOff ()=0
	get angle offset
virtual std::vector< double >	getAngRange ()=0
	get angle range
virtual std::vector< double >	getAngStop ()=0
	get angle stop
virtual std::vector< int >	getDir ()=0
	get direction
virtual std::vector< int >	getEncOff ()=0
	get encoder offset
virtual std::vector< int >	getEpc ()=0
	get encoders per cycle
virtual std::vector< double >	getLinkLength ()=0
	get link length
virtual bool	inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)=0
virtual bool	rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)=0
virtual bool	setAngOff (const std::vector< double > aAngOff)=0
	set angle offset
virtual bool	setAngStop (const std::vector< double > aAngStop)=0
	set angle stop
virtual bool	setLinkLength (const std::vector< double > aLengths)=0
	set link length
virtual	~Kinematics ()
	Virtual destructor.
Private Member Functions
virtual bool	initialize ()=0
	initializes the kinematic
Private Attributes
std::vector< double >	mAngleOffset
	Angle offset vector [rad].
std::vector< double >	mAngleStop
	Angle stop vector [rad].
std::vector< int >	mEncoderOffset
	Encoder offset vector.
std::vector< int >	mEncodersPerCycle
	Encoders per cycle vector.
int	mNumberOfMotors
	Number of motors of the robot.
int	mNumberOfSegments
	Number of segments of the robot.
std::vector< int >	mRotationDirection
	Rotation direction vector [1|-1].
std::vector< double >	mSegmentLength
	Effector segment lengths vector [m].

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Detailed Description

Base Class for the kinematics implementations.

This class is pure virtual. The different robot kinematics implement this interface

Definition at line 42 of file AnalyticalGuess/include/kinematics.h.

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Constructor & Destructor Documentation

virtual AnaGuess::Kinematics::~Kinematics

(

)

[inline, virtual]

Virtual destructor.

Definition at line 67 of file AnalyticalGuess/include/kinematics.h.

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Member Function Documentation

virtual bool AnaGuess::Kinematics::directKinematics	(	std::vector< double > &	aPosition,
		const std::vector< double >	aAngles
	)		[pure virtual]

calculates the direct kinematics

Parameters:

aPosition	empty vector to store the position
aAngles	the angle vector

Returns:

true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::enc2rad	(	std::vector< double > &	aAngles,
		const std::vector< int >	aEncoders
	)		[pure virtual]

calculates the angles corresponding to the given encoders

Parameters:

aAngles	empty vector to store the angles
aEncoders	the encoder vector

Returns:

true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngMax

(

)

[pure virtual]

get angle max

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngMin

(

)

[pure virtual]

get angle min

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngOff

(

)

[pure virtual]

get angle offset

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngRange

(

)

[pure virtual]

get angle range

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngStop

(

)

[pure virtual]

get angle stop

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getDir

(

)

[pure virtual]

get direction

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getEncOff

(

)

[pure virtual]

get encoder offset

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getEpc

(

)

[pure virtual]

get encoders per cycle

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getLinkLength

(

)

[pure virtual]

get link length

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::initialize

(

)

[private, pure virtual]

initializes the kinematic

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::inverseKinematics	(	std::vector< double > &	aAngles,
		const std::vector< double >	aPosition,
		const std::vector< double >	aStartingAngles
	)		[pure virtual]

caltulates the inverse kinematics

Parameters:

aAngles	empty vector to store the angles
aPosition	the position vector
aStartingAngles	starting angle vector to find the best (nearest) solution

Exceptions:

NoSolutionException

if no solutios exists

Returns:

true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::rad2enc	(	std::vector< int > &	aEncoders,
		const std::vector< double >	aAngles
	)		[pure virtual]

calculates the encoders corresponding to the given angles

Parameters:

aEncoders	empty vector to store the encoders
aAngles	the angle vector

Returns:

true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::setAngOff

(

const std::vector< double >

aAngOff

)

[pure virtual]

set angle offset

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::setAngStop

(

const std::vector< double >

aAngStop

)

[pure virtual]

set angle stop

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::setLinkLength

(

const std::vector< double >

aLengths

)

[pure virtual]

set link length

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

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Member Data Documentation

std::vector<double> AnaGuess::Kinematics::mAngleOffset [private]

Angle offset vector [rad].

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 52 of file AnalyticalGuess/include/kinematics.h.

std::vector<double> AnaGuess::Kinematics::mAngleStop [private]

Angle stop vector [rad].

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 54 of file AnalyticalGuess/include/kinematics.h.

std::vector<int> AnaGuess::Kinematics::mEncoderOffset [private]

Encoder offset vector.

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 58 of file AnalyticalGuess/include/kinematics.h.

std::vector<int> AnaGuess::Kinematics::mEncodersPerCycle [private]

Encoders per cycle vector.

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 56 of file AnalyticalGuess/include/kinematics.h.

int AnaGuess::Kinematics::mNumberOfMotors [private]

Number of motors of the robot.

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 46 of file AnalyticalGuess/include/kinematics.h.

int AnaGuess::Kinematics::mNumberOfSegments [private]

Number of segments of the robot.

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 48 of file AnalyticalGuess/include/kinematics.h.

std::vector<int> AnaGuess::Kinematics::mRotationDirection [private]

Rotation direction vector [1|-1].

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 60 of file AnalyticalGuess/include/kinematics.h.

std::vector<double> AnaGuess::Kinematics::mSegmentLength [private]

Effector segment lengths vector [m].

Reimplemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

Definition at line 50 of file AnalyticalGuess/include/kinematics.h.

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

• AnalyticalGuess/include/kinematics.h