AnalyticalGuess/include/kinematics.h

Go to the documentation of this file.

/***************************************************************************
 *   Copyright (C) 2008 by Neuronics AG                                    *
 *   support@neuronics.ch                                                  *
 ***************************************************************************/

#ifndef _ANAGUESS_KINEMATICS_H_
#define _ANAGUESS_KINEMATICS_H_

//std:
#include <string>
#include <queue>
#include <vector>
#include <map>
#include <algorithm>

#include "exception.h"

namespace AnaGuess {

const double cTolerance = 0.0001;

class NoSolutionException : public Exception {
public:
    NoSolutionException() throw():
        Exception("No solution found", -10) {}

};



class Kinematics {

private:
        int mNumberOfMotors;
        int mNumberOfSegments;
        std::vector<double> mSegmentLength;
        std::vector<double> mAngleOffset;
        std::vector<double> mAngleStop;
        std::vector<int> mEncodersPerCycle;
        std::vector<int> mEncoderOffset;
        std::vector<int> mRotationDirection;
        virtual bool initialize() = 0;


public:
        virtual ~Kinematics(){}

        virtual std::vector<double> getLinkLength() = 0;
        virtual std::vector<int> getEpc() = 0;
        virtual std::vector<int> getEncOff() = 0;
        virtual std::vector<int> getDir() = 0;
        virtual std::vector<double> getAngOff() = 0;
        virtual std::vector<double> getAngStop() = 0;
        virtual std::vector<double> getAngRange() = 0;
        virtual std::vector<double> getAngMin() = 0;
        virtual std::vector<double> getAngMax() = 0;
        virtual bool setLinkLength(const std::vector<double> aLengths) = 0;
        virtual bool setAngOff(const std::vector<double> aAngOff) = 0;
        virtual bool setAngStop(const std::vector<double> aAngStop) = 0;

        virtual bool enc2rad(std::vector<double>& aAngles, const std::vector<int> aEncoders) = 0;

        virtual bool rad2enc(std::vector<int>& aEncoders, const std::vector<double> aAngles) = 0;

        virtual bool directKinematics(std::vector<double>& aPosition, const std::vector<double> aAngles) = 0;

        virtual bool inverseKinematics(std::vector<double>& aAngles, const std::vector<double> aPosition, const std::vector<double> aStartingAngles) = 0;
};

} // namespace

#endif //_ANAGUESS_KINEMATICS_H_