ikBase.h

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/*
 *   Katana Native Interface - A C++ interface to the robot arm Katana.
 *   Copyright (C) 2005 Neuronics AG
 *   Check out the AUTHORS file for detailed contact information.
 *
 *   This program is free software; you can redistribute it and/or modify
 *   it under the terms of the GNU General Public License as published by
 *   the Free Software Foundation; either version 2 of the License, or
 *   (at your option) any later version.
 *
 *   This program is distributed in the hope that it will be useful,
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *   GNU General Public License for more details.
 *
 *   You should have received a copy of the GNU General Public License
 *   along with this program; if not, write to the Free Software
 *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 */

/******************************************************************************************************************/
#ifndef _IKBASE_H_
#define _IKBASE_H_
/******************************************************************************************************************/

#include "common/exception.h"
#include "common/dllexport.h"

#include "KNI/kmlExt.h"
#include "KNI/kmlCommon.h"

#include "KNI_InvKin/KatanaKinematics.h"
#include "KNI_InvKin/KatanaKinematics6M90G.h"
#include "KNI_InvKin/KatanaKinematics6M90T.h"
#include "KNI_InvKin/KatanaKinematics6M180.h"
#include "KNI_InvKin/KatanaKinematics5M180.h"

#include <vector>
#include <memory>
#include <cmath>

/******************************************************************************************************************/

#ifndef TM_ENDLESS
#define TM_ENDLESS -1    //!< timeout symbol for 'endless' waiting
#endif


class DLLDIR_IK CikBase : public CKatana {

 private:
        std::unique_ptr<KNI::KatanaKinematics> _kinematicsImpl;
        bool _kinematicsIsInitialized;
        void _initKinematics();

 public:

    CikBase() : _kinematicsIsInitialized(false) {  };
    ~CikBase();

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

    void setTcpOffset(double xoff, double yoff, double zoff, double psioff);

    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);

    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);

};

/******************************************************************************************************************/
#endif //_IKBASE_H_
/******************************************************************************************************************/