AnaGuess::Kinematics6M90G Class Reference

Implements the kinematics for the Katana6M90G. More...

#include <kinematics6M90G.h>

Inheritance diagram for AnaGuess::Kinematics6M90G:

List of all members.

Classes
struct	angles_calc
struct	position
	structs, type and constants used in inverse kinematics calculation More...
Public Member Functions
bool	directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)
bool	enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)
std::vector< double >	getAngMax ()
	get angle max
std::vector< double >	getAngMin ()
	get angle min
std::vector< double >	getAngOff ()
	get angle offset
std::vector< double >	getAngRange ()
	get angle range
std::vector< double >	getAngStop ()
	get angle stop
std::vector< int >	getDir ()
	get direction
std::vector< int >	getEncOff ()
	get encoder offset
std::vector< int >	getEpc ()
	get encoders per cycle
std::vector< double >	getLinkLength ()
	get link length
bool	inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)
	Kinematics6M90G ()
	Constructor.
bool	rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)
bool	setAngOff (const std::vector< double > aAngOff)
	set angle offset
bool	setAngStop (const std::vector< double > aAngStop)
	set angle offset
bool	setLinkLength (const std::vector< double > aLengths)
	set link length
	~Kinematics6M90G ()
	Destructor.
Private Types
typedef std::vector< angles_calc >	angles_container
Private Member Functions
bool	angledef (angles_calc &a) const
bool	AnglePositionTest (const angles_calc &a) const
bool	GripperTest (const position &p_gr, const angles_calc &angle) const
void	IK_b1b2costh3_6MS (angles_calc &angle, const position &p) const
void	IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
	helper functions
bool	initialize ()
	initialization routine
bool	PositionTest6MS (const angles_calc &a, const position &p) const
void	thetacomp (angles_calc &angle, const position &p_m) const
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.
bool	mIsInitialized
	Initialized flag.
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].
Static Private Attributes
static const int	cNrOfPossibleSolutions = 8

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Detailed Description

Implements the kinematics for the Katana6M90G.

This class implemets the abstract kinematics interface for the Katana6M90G

Definition at line 30 of file kinematics6M90G.h.

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Member Typedef Documentation

typedef std::vector<angles_calc> AnaGuess::Kinematics6M90G::angles_container [private]

Definition at line 68 of file kinematics6M90G.h.

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Constructor & Destructor Documentation

AnaGuess::Kinematics6M90G::Kinematics6M90G

(

)

Constructor.

Definition at line 11 of file kinematics6M90G.cpp.

AnaGuess::Kinematics6M90G::~Kinematics6M90G

(

)

Destructor.

Definition at line 15 of file kinematics6M90G.cpp.

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Member Function Documentation

bool AnaGuess::Kinematics6M90G::angledef

(

angles_calc &

a

)

const [private]

Definition at line 512 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::AnglePositionTest

(

const angles_calc &

a

)

const [private]

Definition at line 533 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::directKinematics	(	std::vector< double > &	aPosition,
		const std::vector< double >	aAngles
	)		[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

Implements AnaGuess::Kinematics.

Definition at line 141 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::enc2rad	(	std::vector< double > &	aAngles,
		const std::vector< int >	aEncoders
	)		[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

Implements AnaGuess::Kinematics.

Definition at line 126 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getAngMax

(

)

[virtual]

get angle max

Implements AnaGuess::Kinematics.

Definition at line 76 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getAngMin

(

)

[virtual]

get angle min

Implements AnaGuess::Kinematics.

Definition at line 64 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getAngOff

(

)

[virtual]

get angle offset

Implements AnaGuess::Kinematics.

Definition at line 40 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getAngRange

(

)

[virtual]

get angle range

Implements AnaGuess::Kinematics.

Definition at line 50 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getAngStop

(

)

[virtual]

get angle stop

Implements AnaGuess::Kinematics.

Definition at line 45 of file kinematics6M90G.cpp.

std::vector< int > AnaGuess::Kinematics6M90G::getDir

(

)

[virtual]

get direction

Implements AnaGuess::Kinematics.

Definition at line 35 of file kinematics6M90G.cpp.

std::vector< int > AnaGuess::Kinematics6M90G::getEncOff

(

)

[virtual]

get encoder offset

Implements AnaGuess::Kinematics.

Definition at line 30 of file kinematics6M90G.cpp.

std::vector< int > AnaGuess::Kinematics6M90G::getEpc

(

)

[virtual]

get encoders per cycle

Implements AnaGuess::Kinematics.

Definition at line 25 of file kinematics6M90G.cpp.

std::vector< double > AnaGuess::Kinematics6M90G::getLinkLength

(

)

[virtual]

get link length

Implements AnaGuess::Kinematics.

Definition at line 20 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const [private]

Definition at line 460 of file kinematics6M90G.cpp.

void AnaGuess::Kinematics6M90G::IK_b1b2costh3_6MS	(	angles_calc &	angle,
		const position &	p
	)		const [private]

Definition at line 473 of file kinematics6M90G.cpp.

void AnaGuess::Kinematics6M90G::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const [private]

helper functions

Definition at line 418 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::initialize

(

)

[private, virtual]

initialization routine

Implements AnaGuess::Kinematics.

Definition at line 361 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::inverseKinematics	(	std::vector< double > &	aAngles,
		const std::vector< double >	aPosition,
		const std::vector< double >	aStartingAngles
	)		[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

Implements AnaGuess::Kinematics.

Definition at line 223 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::PositionTest6MS	(	const angles_calc &	a,
		const position &	p
	)		const [private]

Definition at line 498 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::rad2enc	(	std::vector< int > &	aEncoders,
		const std::vector< double >	aAngles
	)		[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

Implements AnaGuess::Kinematics.

Definition at line 133 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::setAngOff

(

const std::vector< double >

aAngOff

)

[virtual]

set angle offset

Implements AnaGuess::Kinematics.

Definition at line 101 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::setAngStop

(

const std::vector< double >

aAngStop

)

[virtual]

set angle offset

set angle stop

Implements AnaGuess::Kinematics.

Definition at line 113 of file kinematics6M90G.cpp.

bool AnaGuess::Kinematics6M90G::setLinkLength

(

const std::vector< double >

aLengths

)

[virtual]

set link length

Implements AnaGuess::Kinematics.

Definition at line 89 of file kinematics6M90G.cpp.

void AnaGuess::Kinematics6M90G::thetacomp	(	angles_calc &	angle,
		const position &	p_m
	)		const [private]

Definition at line 487 of file kinematics6M90G.cpp.

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Member Data Documentation

const int AnaGuess::Kinematics6M90G::cNrOfPossibleSolutions = 8 [static, private]

Definition at line 69 of file kinematics6M90G.h.

std::vector<double> AnaGuess::Kinematics6M90G::mAngleOffset [private]

Angle offset vector [rad].

Reimplemented from AnaGuess::Kinematics.

Definition at line 39 of file kinematics6M90G.h.

std::vector<double> AnaGuess::Kinematics6M90G::mAngleStop [private]

Angle stop vector [rad].

Reimplemented from AnaGuess::Kinematics.

Definition at line 41 of file kinematics6M90G.h.

std::vector<int> AnaGuess::Kinematics6M90G::mEncoderOffset [private]

Encoder offset vector.

Reimplemented from AnaGuess::Kinematics.

Definition at line 45 of file kinematics6M90G.h.

std::vector<int> AnaGuess::Kinematics6M90G::mEncodersPerCycle [private]

Encoders per cycle vector.

Reimplemented from AnaGuess::Kinematics.

Definition at line 43 of file kinematics6M90G.h.

bool AnaGuess::Kinematics6M90G::mIsInitialized [private]

Initialized flag.

Definition at line 49 of file kinematics6M90G.h.

int AnaGuess::Kinematics6M90G::mNumberOfMotors [private]

Number of motors of the robot.

Reimplemented from AnaGuess::Kinematics.

Definition at line 33 of file kinematics6M90G.h.

int AnaGuess::Kinematics6M90G::mNumberOfSegments [private]

Number of segments of the robot.

Reimplemented from AnaGuess::Kinematics.

Definition at line 35 of file kinematics6M90G.h.

std::vector<int> AnaGuess::Kinematics6M90G::mRotationDirection [private]

Rotation direction vector [1|-1].

Reimplemented from AnaGuess::Kinematics.

Definition at line 47 of file kinematics6M90G.h.

std::vector<double> AnaGuess::Kinematics6M90G::mSegmentLength [private]

Effector segment lengths vector [m].

Reimplemented from AnaGuess::Kinematics.

Definition at line 37 of file kinematics6M90G.h.

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

• kinematics6M90G.h
• kinematics6M90G.cpp