10 #ifndef _ANAGUESS_KINEMATICS_H_ 11 #define _ANAGUESS_KINEMATICS_H_ 62 virtual bool initialize() = 0;
70 virtual std::vector<double> getLinkLength() = 0;
72 virtual std::vector<int> getEpc() = 0;
74 virtual std::vector<int> getEncOff() = 0;
76 virtual std::vector<int> getDir() = 0;
78 virtual std::vector<double> getAngOff() = 0;
80 virtual std::vector<double> getAngStop() = 0;
82 virtual std::vector<double> getAngRange() = 0;
84 virtual std::vector<double> getAngMin() = 0;
86 virtual std::vector<double> getAngMax() = 0;
88 virtual bool setLinkLength(
const std::vector<double> aLengths) = 0;
90 virtual bool setAngOff(
const std::vector<double> aAngOff) = 0;
92 virtual bool setAngStop(
const std::vector<double> aAngStop) = 0;
98 virtual bool enc2rad(std::vector<double>& aAngles,
const std::vector<int> aEncoders) = 0;
104 virtual bool rad2enc(std::vector<int>& aEncoders,
const std::vector<double> aAngles) = 0;
110 virtual bool directKinematics(std::vector<double>& aPosition,
const std::vector<double> aAngles) = 0;
118 virtual bool inverseKinematics(std::vector<double>& aAngles,
const std::vector<double> aPosition,
const std::vector<double> aStartingAngles) = 0;
124 #endif //_ANAGUESS_KINEMATICS_H_ _encT rad2enc(_angleT const &angle, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
std::vector< double > mSegmentLength
Effector segment lengths vector [m].
std::vector< double > mAngleOffset
Angle offset vector [rad].
std::vector< int > mRotationDirection
Rotation direction vector [1|-1].
Base Class for the kinematics implementations.
std::vector< int > mEncodersPerCycle
Encoders per cycle vector.
int mNumberOfMotors
Number of motors of the robot.
int mNumberOfSegments
Number of segments of the robot.
_angleT enc2rad(_encT const &enc, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
virtual ~Kinematics()
Virtual destructor.
std::vector< int > mEncoderOffset
Encoder offset vector.
std::vector< double > mAngleStop
Angle stop vector [rad].