Base Class for the kinematics implementations. More...

#include <kinematics.h>

Inheritance diagram for AnaGuess::Kinematics:

Public Member Functions
virtual bool	directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)=0

virtual bool	enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)=0

virtual std::vector< double >	getAngMax ()=0
	get angle max More...

virtual std::vector< double >	getAngMin ()=0
	get angle min More...

virtual std::vector< double >	getAngOff ()=0
	get angle offset More...

virtual std::vector< double >	getAngRange ()=0
	get angle range More...

virtual std::vector< double >	getAngStop ()=0
	get angle stop More...

virtual std::vector< int >	getDir ()=0
	get direction More...

virtual std::vector< int >	getEncOff ()=0
	get encoder offset More...

virtual std::vector< int >	getEpc ()=0
	get encoders per cycle More...

virtual std::vector< double >	getLinkLength ()=0
	get link length More...

virtual bool	inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)=0

virtual bool	rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)=0

virtual bool	setAngOff (const std::vector< double > aAngOff)=0
	set angle offset More...

virtual bool	setAngStop (const std::vector< double > aAngStop)=0
	set angle stop More...

virtual bool	setLinkLength (const std::vector< double > aLengths)=0
	set link length More...

virtual	~Kinematics ()
	Virtual destructor. More...

Private Member Functions
virtual bool	initialize ()=0
	initializes the kinematic More...

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...

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...

Detailed Description

Base Class for the kinematics implementations.

This class is pure virtual. The different robot kinematics implement this interface

Definition at line 42 of file AnalyticalGuess/include/kinematics.h.

Constructor & Destructor Documentation

virtual AnaGuess::Kinematics::~Kinematics ( )

inlinevirtual

Virtual destructor.

Definition at line 67 of file AnalyticalGuess/include/kinematics.h.

Member Function Documentation

virtual bool AnaGuess::Kinematics::directKinematics	(	std::vector< double > &	aPosition,
		const std::vector< double >	aAngles
	)

pure 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

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::enc2rad	(	std::vector< double > &	aAngles,
		const std::vector< int >	aEncoders
	)

pure 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

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngMax ( )

pure virtual

get angle max

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngMin ( )

pure virtual

get angle min

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngOff ( )

pure virtual

get angle offset

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngRange ( )

pure virtual

get angle range

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getAngStop ( )

pure virtual

get angle stop

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getDir ( )

pure virtual

get direction

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getEncOff ( )

pure virtual

get encoder offset

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<int> AnaGuess::Kinematics::getEpc ( )

pure virtual

get encoders per cycle

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual std::vector<double> AnaGuess::Kinematics::getLinkLength ( )

pure virtual

get link length

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

virtual bool AnaGuess::Kinematics::initialize ( )

privatepure virtual

initializes the kinematic

Implemented in AnaGuess::Kinematics6M90T, AnaGuess::Kinematics6M180, and AnaGuess::Kinematics6M90G.

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