Public Member Functions | Protected Member Functions | Protected Attributes | List of all members
KineCalc Class Reference

#include <kinecalc.hpp>

Public Member Functions

void CalculateFK (const double fromJoints[])
bool CalculateIK (const EndEffector &fromPosition)
KineVector CalculateN (const EndEffector &pose)
const KineVectorGetA (void) const
const KineVectorGetN (void) const
const KineVectorGetO (void) const
const KineVectorGetP (void) const
double GetTheta (unsigned int index)
const double * GetThetas (void) const
 KineCalc (void)
KineVector Normalise (const KineVector &vector)
void SetA (const KineVector &newA)
void SetA (double newAX, double newAY, double newAZ)
void SetJointRange (unsigned int joint, double min, double max)
void SetLinkLengths (double newLink1, double newLink2, double newLink3, double newLink4, double newLink5)
void SetN (const KineVector &newN)
void SetN (double newNX, double newNY, double newNZ)
void SetO (const KineVector &newO)
void SetO (double newOX, double newOY, double newOZ)
void SetOffset (unsigned int joint, double newOffset)
void SetP (const KineVector &newP)
void SetP (double newPX, double newPY, double newPZ)
void SetTheta (unsigned int index, double newVal)

Protected Member Functions

EndEffector CalcFKForJoints (const double angles[])
double CalcSolutionError (const double solution[], const EndEffector &fromPosition)
void CalcTheta4and5 (double angles[], const EndEffector &fromPosition)
int ChooseSolution (const EndEffector &fromPosition, const double solutions[][5])
void PrintEndEffector (const EndEffector &endEffector)
bool SolutionInRange (const double angles[])

Protected Attributes

EndEffector endEffector
double jointMax [5]
double jointMin [5]
double jointOffsets [5]
double joints [5]
double link1
double link2
double link3
double link4
double link5

Detailed Description

Definition at line 44 of file kinecalc.hpp.

Constructor & Destructor Documentation

KineCalc::KineCalc ( void  )

Definition at line 27 of file kinecalc.cpp.

Member Function Documentation

EndEffector KineCalc::CalcFKForJoints ( const double  angles[])

Definition at line 426 of file kinecalc.cpp.

double KineCalc::CalcSolutionError ( const double  solution[],
const EndEffector fromPosition 

Definition at line 404 of file kinecalc.cpp.

void KineCalc::CalcTheta4and5 ( double  angles[],
const EndEffector fromPosition 

Definition at line 332 of file kinecalc.cpp.

void KineCalc::CalculateFK ( const double  fromJoints[])

Definition at line 180 of file kinecalc.cpp.

bool KineCalc::CalculateIK ( const EndEffector fromPosition)

Definition at line 199 of file kinecalc.cpp.

KineVector KineCalc::CalculateN ( const EndEffector pose)

Definition at line 135 of file kinecalc.cpp.

int KineCalc::ChooseSolution ( const EndEffector fromPosition,
const double  solutions[][5] 

Definition at line 373 of file kinecalc.cpp.

const KineVector& KineCalc::GetA ( void  ) const

Definition at line 57 of file kinecalc.hpp.

const KineVector& KineCalc::GetN ( void  ) const

Definition at line 55 of file kinecalc.hpp.

const KineVector& KineCalc::GetO ( void  ) const

Definition at line 56 of file kinecalc.hpp.

const KineVector& KineCalc::GetP ( void  ) const

Definition at line 54 of file kinecalc.hpp.

double KineCalc::GetTheta ( unsigned int  index)

Definition at line 81 of file kinecalc.cpp.

const double* KineCalc::GetThetas ( void  ) const

Definition at line 80 of file kinecalc.hpp.

KineVector KineCalc::Normalise ( const KineVector vector)

Definition at line 118 of file kinecalc.cpp.

void KineCalc::PrintEndEffector ( const EndEffector endEffector)

Definition at line 163 of file kinecalc.cpp.

void KineCalc::SetA ( const KineVector newA)

Definition at line 70 of file kinecalc.hpp.

void KineCalc::SetA ( double  newAX,
double  newAY,
double  newAZ 

Definition at line 74 of file kinecalc.cpp.

void KineCalc::SetJointRange ( unsigned int  joint,
double  min,
double  max 

Definition at line 107 of file kinecalc.cpp.

void KineCalc::SetLinkLengths ( double  newLink1,
double  newLink2,
double  newLink3,
double  newLink4,
double  newLink5 

Definition at line 91 of file kinecalc.cpp.

void KineCalc::SetN ( const KineVector newN)

Definition at line 62 of file kinecalc.hpp.

void KineCalc::SetN ( double  newNX,
double  newNY,
double  newNZ 

Definition at line 60 of file kinecalc.cpp.

void KineCalc::SetO ( const KineVector newO)

Definition at line 66 of file kinecalc.hpp.

void KineCalc::SetO ( double  newOX,
double  newOY,
double  newOZ 

Definition at line 67 of file kinecalc.cpp.

void KineCalc::SetOffset ( unsigned int  joint,
double  newOffset 

Definition at line 102 of file kinecalc.cpp.

void KineCalc::SetP ( const KineVector newP)

Definition at line 58 of file kinecalc.hpp.

void KineCalc::SetP ( double  newPX,
double  newPY,
double  newPZ 

Definition at line 53 of file kinecalc.cpp.

void KineCalc::SetTheta ( unsigned int  index,
double  newVal 

Definition at line 86 of file kinecalc.cpp.

bool KineCalc::SolutionInRange ( const double  angles[])

Definition at line 466 of file kinecalc.cpp.

Member Data Documentation

EndEffector KineCalc::endEffector

Definition at line 105 of file kinecalc.hpp.

double KineCalc::jointMax[5]

Definition at line 115 of file kinecalc.hpp.

double KineCalc::jointMin[5]

Definition at line 114 of file kinecalc.hpp.

double KineCalc::jointOffsets[5]

Definition at line 112 of file kinecalc.hpp.

double KineCalc::joints[5]

Definition at line 110 of file kinecalc.hpp.

double KineCalc::link1

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link2

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link3

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link4

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link5

Definition at line 120 of file kinecalc.hpp.

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

Author(s): Hunter L. Allen , David Feil-Seifer , Aris Synodinos , Brian Gerkey, Kasper Stoy, Richard Vaughan, Andrew Howard, Tucker Hermans, ActivMedia Robotics LLC, MobileRobots Inc.
autogenerated on Sat Jun 20 2020 03:29:42