#include <ikBase.h>

Inheritance diagram for CikBase:

Public Member Functions
	CikBase ()
void	DKApos (double *position)
void	getCoordinates (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true)
void	getCoordinatesFromEncoders (std::vector< double > &pose, const std::vector< int > &encs)
	Returns the position of the robot corresponting to the given encoders in cartesian coordinates.
void	getKinematicsVersion (std::vector< int > &version)
void	IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter)
void	IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition)
void	IKGoto (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
void	moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)
void	moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)
void	setTcpOffset (double xoff, double yoff, double zoff, double psioff)
	~CikBase ()
Private Member Functions
void	_initKinematics ()
Private Attributes
std::unique_ptr < KNI::KatanaKinematics >	_kinematicsImpl
bool	_kinematicsIsInitialized

Detailed Description

Definition at line 49 of file ikBase.h.

Constructor & Destructor Documentation

CikBase::CikBase ( ) [inline]

Definition at line 58 of file ikBase.h.

CikBase::~CikBase ( )

Definition at line 25 of file ikBase.cpp.

Member Function Documentation

void CikBase::_initKinematics ( ) [private]

Definition at line 35 of file ikBase.cpp.

void CikBase::DKApos ( double * position )

Returns the current position of the robot in cartesian coordinates.

Note:: This method is deprecated, please use getCoordinates(...) instead

Definition at line 196 of file ikBase.cpp.

void CikBase::getCoordinates	(	double &	x,
		double &	y,
		double &	z,
		double &	phi,
		double &	theta,
		double &	psi,
		bool	refreshEncoders = `true`
	)

Returns the current position of the robot in cartesian coordinates.

Parameters:

refreshEncoders With this parameter you can determine if the method reads the actual encoders from the robot or if it will use the cached ones

Note:: This function returns a tuple in python

Definition at line 349 of file ikBase.cpp.

void CikBase::getCoordinatesFromEncoders	(	std::vector< double > &	pose,
		const std::vector< int > &	encs
	)

Returns the position of the robot corresponting to the given encoders in cartesian coordinates.

Definition at line 399 of file ikBase.cpp.

void CikBase::getKinematicsVersion ( std::vector< int > & version )

Returns the version number of the kinematics used.

Parameters:

version vector to write in version (major, minor, revision)

Note:: integrated analytical kinematics returns version 0.1.0; kinematics library returns versions >= 1.0.0

Definition at line 161 of file ikBase.cpp.

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter
	)

Calculates a set of encoders for the given coordinates. This method reads the current encoders from the robot and involves therefore also communication to the robot

Definition at line 200 of file ikBase.cpp.

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter,
		const std::vector< int > &	actualPosition
	)

Calculates a set of encoders for the given coordinates. For this method you have to pass an actualPosition too. No communication with the robot will be done here.

Definition at line 266 of file ikBase.cpp.

void CikBase::IKGoto	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note:: This method is deprecated, please use moveRobotTo(...) instead

Definition at line 327 of file ikBase.cpp.

void CikBase::moveRobotTo	(	double	x,
		double	y,
		double	z,
		double	phi,
		double	theta,
		double	psi,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `TM_ENDLESS`
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note:: Instead of a given tolerance, a default tolerance is being used

Reimplemented in CLMBase.

Definition at line 429 of file ikBase.cpp.

void CikBase::moveRobotTo	(	std::vector< double >	coordinates,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `TM_ENDLESS`
	)

This method does the same as the one above and is mainly provided for convenience

Note:: You can call this function in python using tuples: Example: katana.moveRobotTo( (x,y,z,phi,theta,psi) ); If the size of the container is smaller than 6, it will throw an exception

Reimplemented in CLMBase.

Definition at line 433 of file ikBase.cpp.

void CikBase::setTcpOffset	(	double	xoff,
		double	yoff,
		double	zoff,
		double	psioff
	)

Set the offset from the flange to the desired tcp

Parameters:

xoff	offset in x direction of flange coordinate system in m
yoff	offset in y direction of flange coordinate system in m
zoff	offset in z direction of flange coordinate system in m
psioff	angle offset around x-axis of flange coordinate system in rad

Definition at line 180 of file ikBase.cpp.

Member Data Documentation

std::unique_ptr<KNI::KatanaKinematics> CikBase::_kinematicsImpl [private]

Definition at line 52 of file ikBase.h.

bool CikBase::_kinematicsIsInitialized [private]

Definition at line 53 of file ikBase.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation