#include "libKinematics.h"

Include dependency graph for libKinematics.cpp:

Functions
int	kin_clean ()

int	kin_DK (FloatVector angle, FloatVector pose)

int	kin_enc2rad (IntVector enc, FloatVector angle)

int	kin_getAngOff (FloatVector *angleOffset)

int	kin_getAngRan (FloatVector *angleRange)

int	kin_getDOF ()

int	kin_getDOM ()

int	kin_getEncOff (IntVector *encOffset)

int	kin_getEPC (IntVector *epc)

int	kin_getImmob ()

int	kin_getMaxDOF ()

int	kin_getMDH (FloatVector theta, FloatVector d, FloatVector a, FloatVector alpha)

int	kin_getRotDir (IntVector *rotDir)

int	kin_getTcpOff (FloatVector *tcpOffset)

int	kin_getType ()

int	kin_getVersion (IntVector *version)

int	kin_IK (FloatVector pose, FloatVector prev, FloatVector *angle, int maxBisection)

int	kin_init ()

int	kin_K4D2mDHAng (FloatVector angleK4D, FloatVector angleMDH)

int	kin_mDH2K4DAng (FloatVector angleMDH, FloatVector angleK4D)

int	kin_rad2enc (FloatVector angle, IntVector enc)

int	kin_setAngOff (FloatVector *angleOffset)

int	kin_setAngRan (FloatVector *angleRange)

int	kin_setEncOff (IntVector *encOffset)

int	kin_setEPC (IntVector *epc)

int	kin_setImmob (int immobile)

int	kin_setLinkLen (FloatVector *links)

int	kin_setMDH (FloatVector theta, FloatVector d, FloatVector a, FloatVector alpha, int typeNr)

int	kin_setRotDir (IntVector *rotDir)

int	kin_setTcpOff (FloatVector *tcpOffset)

int	kin_setType (int type)

Variables
KinematicsLib *	_kinematics

bool	LibInstantiated = false

Function Documentation

int kin_clean ( )

Definition at line 320 of file libKinematics.cpp.

int kin_DK	(	FloatVector *	angle,
		FloatVector *	pose
	)

Definition at line 395 of file libKinematics.cpp.

int kin_enc2rad	(	IntVector *	enc,
		FloatVector *	angle
	)

Definition at line 361 of file libKinematics.cpp.

int kin_getAngOff ( FloatVector * angleOffset )

Definition at line 241 of file libKinematics.cpp.

int kin_getAngRan ( FloatVector * angleRange )

Definition at line 258 of file libKinematics.cpp.

int kin_getDOF ( )

Definition at line 152 of file libKinematics.cpp.

int kin_getDOM ( )

Definition at line 158 of file libKinematics.cpp.

int kin_getEncOff ( IntVector * encOffset )

Definition at line 207 of file libKinematics.cpp.

int kin_getEPC ( IntVector * epc )

Definition at line 190 of file libKinematics.cpp.

int kin_getImmob ( )

Definition at line 184 of file libKinematics.cpp.

int kin_getMaxDOF ( )

Definition at line 146 of file libKinematics.cpp.

int kin_getMDH	(	FloatVector *	theta,
		FloatVector *	d,
		FloatVector *	a,
		FloatVector *	alpha
	)

Definition at line 164 of file libKinematics.cpp.

int kin_getRotDir ( IntVector * rotDir )

Definition at line 224 of file libKinematics.cpp.

int kin_getTcpOff ( FloatVector * tcpOffset )

Definition at line 275 of file libKinematics.cpp.

int kin_getType ( )

Definition at line 140 of file libKinematics.cpp.

int kin_getVersion ( IntVector * version )

Definition at line 288 of file libKinematics.cpp.

int kin_IK	(	FloatVector *	pose,
		FloatVector *	prev,
		FloatVector *	angle,
		int	maxBisection
	)

Definition at line 411 of file libKinematics.cpp.

int kin_init ( )

Definition at line 310 of file libKinematics.cpp.

int kin_K4D2mDHAng	(	FloatVector *	angleK4D,
		FloatVector *	angleMDH
	)

Definition at line 329 of file libKinematics.cpp.

int kin_mDH2K4DAng	(	FloatVector *	angleMDH,
		FloatVector *	angleK4D
	)

Definition at line 345 of file libKinematics.cpp.

int kin_rad2enc	(	FloatVector *	angle,
		IntVector *	enc
	)

Definition at line 378 of file libKinematics.cpp.

int kin_setAngOff ( FloatVector * angleOffset )

Definition at line 101 of file libKinematics.cpp.

int kin_setAngRan ( FloatVector * angleRange )

Definition at line 113 of file libKinematics.cpp.

int kin_setEncOff ( IntVector * encOffset )

Definition at line 77 of file libKinematics.cpp.

int kin_setEPC ( IntVector * epc )

Definition at line 65 of file libKinematics.cpp.

int kin_setImmob ( int immobile )

Definition at line 57 of file libKinematics.cpp.

int kin_setLinkLen ( FloatVector * links )

Definition at line 45 of file libKinematics.cpp.

int kin_setMDH	(	FloatVector *	theta,
		FloatVector *	d,
		FloatVector *	a,
		FloatVector *	alpha,
		int	typeNr
	)

Definition at line 28 of file libKinematics.cpp.

int kin_setRotDir ( IntVector * rotDir )

Definition at line 89 of file libKinematics.cpp.

int kin_setTcpOff ( FloatVector * tcpOffset )

Definition at line 126 of file libKinematics.cpp.

int kin_setType ( int type )

Definition at line 21 of file libKinematics.cpp.

Variable Documentation

KinematicsLib* _kinematics

Definition at line 16 of file libKinematics.cpp.

bool LibInstantiated = false

Definition at line 17 of file libKinematics.cpp.

Functions

Variables

Function Documentation

Variable Documentation