#include <kinecalc.hpp>

Public Member Functions
void	CalculateFK (const double fromJoints[])

bool	CalculateIK (const EndEffector &fromPosition)

KineVector	CalculateN (const EndEffector &pose)

const KineVector &	GetA (void) const

const KineVector &	GetN (void) const

const KineVector &	GetO (void) const

const KineVector &	GetP (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[] )

protected

Definition at line 426 of file kinecalc.cpp.

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

protected

Definition at line 404 of file kinecalc.cpp.

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

protected

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]
	)

protected

Definition at line 373 of file kinecalc.cpp.

const KineVector& KineCalc::GetA ( void ) const

inline

Definition at line 57 of file kinecalc.hpp.

const KineVector& KineCalc::GetN ( void ) const

inline

Definition at line 55 of file kinecalc.hpp.

const KineVector& KineCalc::GetO ( void ) const

inline

Definition at line 56 of file kinecalc.hpp.

const KineVector& KineCalc::GetP ( void ) const

inline

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

inline

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 )

protected

Definition at line 163 of file kinecalc.cpp.

void KineCalc::SetA ( const KineVector & newA )

inline

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 )

inline

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 )

inline

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 )

inline

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[] )

protected

Definition at line 466 of file kinecalc.cpp.

Member Data Documentation

EndEffector KineCalc::endEffector

protected

Definition at line 105 of file kinecalc.hpp.

double KineCalc::jointMax[5]

protected

Definition at line 115 of file kinecalc.hpp.

double KineCalc::jointMin[5]

protected

Definition at line 114 of file kinecalc.hpp.

double KineCalc::jointOffsets[5]

protected

Definition at line 112 of file kinecalc.hpp.

double KineCalc::joints[5]

protected

Definition at line 110 of file kinecalc.hpp.

double KineCalc::link1

protected

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link2

protected

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link3

protected

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link4

protected

Definition at line 120 of file kinecalc.hpp.

double KineCalc::link5

protected

Definition at line 120 of file kinecalc.hpp.

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

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation