Implements the kinematics for the Katana6M90T. More...

#include <kinematics6M90T.h>

Inheritance diagram for AnaGuess::Kinematics6M90T:

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 More...

std::vector< double >	getAngMin ()
	get angle min More...

std::vector< double >	getAngOff ()
	get angle offset More...

std::vector< double >	getAngRange ()
	get angle range More...

std::vector< double >	getAngStop ()
	get angle stop More...

std::vector< int >	getDir ()
	get direction More...

std::vector< int >	getEncOff ()
	get encoder offset More...

std::vector< int >	getEpc ()
	get encoders per cycle More...

std::vector< double >	getLinkLength ()
	get link length More...

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

	Kinematics6M90T ()
	Constructor. More...

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

bool	setAngOff (const std::vector< double > aAngOff)
	set angle offset More...

bool	setAngStop (const std::vector< double > aAngStop)
	set angle stop More...

bool	setLinkLength (const std::vector< double > aLengths)
	set link length More...

	~Kinematics6M90T ()
	Destructor. More...

Public Member Functions inherited from AnaGuess::Kinematics
virtual	~Kinematics ()
	Virtual destructor. More...

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

double	findFirstEqualAngle (const std::vector< double > &v1, const std::vector< double > &v2) 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 More...

bool	initialize ()
	initialization routine More...

bool	PositionTest6MS (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const

void	thetacomp (angles_calc &angle, const position &p_m, const std::vector< double > &pose) const

Private Attributes
std::vector< double >	mAngleOffset
	Angle offset vector [rad]. More...

std::vector< double >	mAngleStop
	Angle stop vector [rad]. More...

std::vector< int >	mEncoderOffset
	Encoder offset vector. More...

std::vector< int >	mEncodersPerCycle
	Encoders per cycle vector. More...

bool	mIsInitialized
	Initialized flag. More...

int	mNumberOfMotors
	Number of motors of the robot. More...

int	mNumberOfSegments
	Number of segments of the robot. More...

std::vector< int >	mRotationDirection
	Rotation direction vector [1\|-1]. More...

std::vector< double >	mSegmentLength
	Effector segment lengths vector [m]. More...

Static Private Attributes
static const int	cNrOfPossibleSolutions = 8

Detailed Description

Implements the kinematics for the Katana6M90T.

This class implemets the abstract kinematics interface for the Katana6M90T

Definition at line 30 of file kinematics6M90T.h.

Member Typedef Documentation

typedef std::vector<angles_calc> AnaGuess::Kinematics6M90T::angles_container

private

Definition at line 69 of file kinematics6M90T.h.

Constructor & Destructor Documentation

AnaGuess::Kinematics6M90T::Kinematics6M90T ( )

Constructor.

Definition at line 11 of file kinematics6M90T.cpp.

AnaGuess::Kinematics6M90T::~Kinematics6M90T ( )

Destructor.

Definition at line 15 of file kinematics6M90T.cpp.

Member Function Documentation

bool AnaGuess::Kinematics6M90T::angledef ( angles_calc & a ) const

private

Definition at line 626 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::AnglePositionTest ( const angles_calc & a ) const

private

Definition at line 653 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::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 140 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::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 125 of file kinematics6M90T.cpp.

double AnaGuess::Kinematics6M90T::findFirstEqualAngle	(	const std::vector< double > &	v1,
		const std::vector< double > &	v2
	)		const

private

Definition at line 505 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngMax ( )

virtual

get angle max

Implements AnaGuess::Kinematics.

Definition at line 75 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngMin ( )

virtual

get angle min

Implements AnaGuess::Kinematics.

Definition at line 63 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngOff ( )

virtual

get angle offset

Implements AnaGuess::Kinematics.

Definition at line 39 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngRange ( )

virtual

get angle range

Implements AnaGuess::Kinematics.

Definition at line 49 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngStop ( )

virtual

get angle stop

Implements AnaGuess::Kinematics.

Definition at line 44 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getDir ( )

virtual

get direction

Implements AnaGuess::Kinematics.

Definition at line 34 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getEncOff ( )

virtual

get encoder offset

Implements AnaGuess::Kinematics.

Definition at line 29 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getEpc ( )

virtual

get encoders per cycle

Implements AnaGuess::Kinematics.

Definition at line 24 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getLinkLength ( )

virtual

get link length

Implements AnaGuess::Kinematics.

Definition at line 19 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const

private

Definition at line 478 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_b1b2costh3_6MS	(	angles_calc &	angle,
		const position &	p
	)		const

private

Definition at line 491 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const

private

helper functions

Definition at line 437 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::initialize ( )

privatevirtual

initialization routine

Implements AnaGuess::Kinematics.

Definition at line 380 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::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 243 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::PositionTest6MS	(	const double &	theta1,
		const double &	theta2,
		const double &	theta3,
		const double &	theta234,
		const position &	p
	)		const

private

Definition at line 612 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::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 132 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setAngOff ( const std::vector< double > aAngOff )

virtual

set angle offset

Implements AnaGuess::Kinematics.

Definition at line 100 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setAngStop ( const std::vector< double > aAngStop )

virtual

set angle stop

Implements AnaGuess::Kinematics.

Definition at line 112 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setLinkLength ( const std::vector< double > aLengths )

virtual

set link length

Implements AnaGuess::Kinematics.

Definition at line 88 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::thetacomp	(	angles_calc &	angle,
		const position &	p_m,
		const std::vector< double > &	pose
	)		const

private

Definition at line 517 of file kinematics6M90T.cpp.

Member Data Documentation

const int AnaGuess::Kinematics6M90T::cNrOfPossibleSolutions = 8

staticprivate

Definition at line 70 of file kinematics6M90T.h.

std::vector<double> AnaGuess::Kinematics6M90T::mAngleOffset

private

Angle offset vector [rad].

Definition at line 39 of file kinematics6M90T.h.

std::vector<double> AnaGuess::Kinematics6M90T::mAngleStop

private

Angle stop vector [rad].

Definition at line 41 of file kinematics6M90T.h.

std::vector<int> AnaGuess::Kinematics6M90T::mEncoderOffset

private

Encoder offset vector.

Definition at line 45 of file kinematics6M90T.h.

std::vector<int> AnaGuess::Kinematics6M90T::mEncodersPerCycle

private

Encoders per cycle vector.

Definition at line 43 of file kinematics6M90T.h.

bool AnaGuess::Kinematics6M90T::mIsInitialized

private

Initialized flag.

Definition at line 49 of file kinematics6M90T.h.

int AnaGuess::Kinematics6M90T::mNumberOfMotors

private

Number of motors of the robot.

Definition at line 33 of file kinematics6M90T.h.

int AnaGuess::Kinematics6M90T::mNumberOfSegments

private

Number of segments of the robot.

Definition at line 35 of file kinematics6M90T.h.

std::vector<int> AnaGuess::Kinematics6M90T::mRotationDirection

private

Rotation direction vector [1|-1].

Definition at line 47 of file kinematics6M90T.h.

std::vector<double> AnaGuess::Kinematics6M90T::mSegmentLength

private

Effector segment lengths vector [m].

Definition at line 37 of file kinematics6M90T.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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation