#include <KatanaKinematics6M90T.h>

Inheritance diagram for KNI::KatanaKinematics6M90T:

Classes
struct	angles_calc
struct	position
Public Member Functions
void	DK (coordinates &solution, encoders const &current_encoders) const
void	IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
void	init (metrics const &length, parameter_container const &parameters)
Private Types
typedef std::vector< angles_calc >	angles_container
Private Member Functions
void	_setLength (metrics const &length)
void	_setParameters (parameter_container const &parameters)
bool	angledef (angles_calc &a) const
bool	AnglePositionTest (const angles_calc &a) const
double	findFirstEqualAngle (const angles &v1, const angles &v2) const
bool	GripperTest (const position &p_gr, const angles_calc &angle) const
void	IK_b1b2costh3_6MS (angles_calc &a, const position &p) const
void	IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
bool	PositionTest6MS (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const
void	thetacomp (angles_calc &a, const position &p_m, const coordinates &pose) const
Private Attributes
metrics	_length
parameter_container	_parameters
Static Private Attributes
static const int	_nrOfPossibleSolutions = 8
static const double	_tolerance = 0.001

Detailed Description

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

Definition at line 39 of file KatanaKinematics6M90T.h.

Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics6M90T::angles_container [private]

Definition at line 71 of file KatanaKinematics6M90T.h.

Member Function Documentation

void KNI::KatanaKinematics6M90T::_setLength ( metrics const & length ) [inline, private]

Definition at line 79 of file KatanaKinematics6M90T.h.

void KNI::KatanaKinematics6M90T::_setParameters ( parameter_container const & parameters ) [inline, private]

Definition at line 80 of file KatanaKinematics6M90T.h.

bool KNI::KatanaKinematics6M90T::angledef ( angles_calc & a ) const [private]

Definition at line 344 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::AnglePositionTest ( const angles_calc & a ) const [private]

Definition at line 374 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::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.

Definition at line 31 of file KatanaKinematics6M90T.cpp.

double KNI::KatanaKinematics6M90T::findFirstEqualAngle	(	const angles &	v1,
		const angles &	v2
	)		const `[private]`

Definition at line 216 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const `[private]`

Definition at line 184 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::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.

Definition at line 404 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::IK_b1b2costh3_6MS	(	angles_calc &	a,
		const position &	p
	)		const `[private]`

Definition at line 199 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const `[private]`

Definition at line 140 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::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.

Definition at line 131 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::PositionTest6MS	(	const double &	theta1,
		const double &	theta2,
		const double &	theta3,
		const double &	theta234,
		const position &	p
	)		const `[private]`

Definition at line 328 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::thetacomp	(	angles_calc &	a,
		const position &	p_m,
		const coordinates &	pose
	)		const `[private]`

Definition at line 230 of file KatanaKinematics6M90T.cpp.

Member Data Documentation

metrics KNI::KatanaKinematics6M90T::_length [private]

Definition at line 73 of file KatanaKinematics6M90T.h.

const int KNI::KatanaKinematics6M90T::_nrOfPossibleSolutions = 8 [static, private]

Definition at line 77 of file KatanaKinematics6M90T.h.

parameter_container KNI::KatanaKinematics6M90T::_parameters [private]

Definition at line 74 of file KatanaKinematics6M90T.h.

const double KNI::KatanaKinematics6M90T::_tolerance = 0.001 [static, private]

Definition at line 76 of file KatanaKinematics6M90T.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation