#include <KNIConverter.h>
Public Member Functions | |
| double | acc_enc2rad (int index, short encoders) |
| double | acc_rad2enc (int index, double acc) |
| double | angle_enc2rad (int index, int encoders) |
| double | angle_rad2enc (int index, double angle) |
| double | jerk_enc2rad (int index, short encoders) |
| double | jerk_rad2enc (int index, double jerk) |
| KNIConverter (std::string config_file_path) | |
| double | vel_enc2rad (int index, short encoders) |
| double | vel_rad2enc (int index, double vel) |
| virtual | ~KNIConverter () |
Private Member Functions | |
| double | deg2rad (const double deg) |
| double | vel_acc_jerk_enc2rad (int index, short encoders) |
| double | vel_acc_jerk_rad2enc (int index, double vel_acc_jerk) |
Private Attributes | |
| KNI::kmlFactory | config_ |
Definition at line 36 of file KNIConverter.h.
| katana::KNIConverter::KNIConverter | ( | std::string | config_file_path | ) |
Definition at line 30 of file KNIConverter.cpp.
| katana::KNIConverter::~KNIConverter | ( | ) | [virtual] |
Definition at line 38 of file KNIConverter.cpp.
| double katana::KNIConverter::acc_enc2rad | ( | int | index, |
| short | encoders | ||
| ) |
Definition at line 128 of file KNIConverter.cpp.
| double katana::KNIConverter::acc_rad2enc | ( | int | index, |
| double | acc | ||
| ) |
Definition at line 113 of file KNIConverter.cpp.
| double katana::KNIConverter::angle_enc2rad | ( | int | index, |
| int | encoders | ||
| ) |
Definition at line 76 of file KNIConverter.cpp.
| double katana::KNIConverter::angle_rad2enc | ( | int | index, |
| double | angle | ||
| ) |
Theoretically, all *_rad2enc functions should return integers (because encoder values are integer). However, because velocities, accelerations and jerks are divided by 100/100^2/100^3, they would return 0 most of the time. Therefore, return the values as double.
Definition at line 47 of file KNIConverter.cpp.
| double katana::KNIConverter::deg2rad | ( | const double | deg | ) | [private] |
Definition at line 162 of file KNIConverter.cpp.
| double katana::KNIConverter::jerk_enc2rad | ( | int | index, |
| short | encoders | ||
| ) |
Definition at line 133 of file KNIConverter.cpp.
| double katana::KNIConverter::jerk_rad2enc | ( | int | index, |
| double | jerk | ||
| ) |
Definition at line 118 of file KNIConverter.cpp.
| double katana::KNIConverter::vel_acc_jerk_enc2rad | ( | int | index, |
| short | encoders | ||
| ) | [private] |
Definition at line 148 of file KNIConverter.cpp.
| double katana::KNIConverter::vel_acc_jerk_rad2enc | ( | int | index, |
| double | vel_acc_jerk | ||
| ) | [private] |
Definition at line 138 of file KNIConverter.cpp.
| double katana::KNIConverter::vel_enc2rad | ( | int | index, |
| short | encoders | ||
| ) |
Definition at line 123 of file KNIConverter.cpp.
| double katana::KNIConverter::vel_rad2enc | ( | int | index, |
| double | vel | ||
| ) |
Conversions for velocity, acceleration and jerk (first derivative of acceleration). Basically the same as for angle, but without the offsets.
Definition at line 108 of file KNIConverter.cpp.
KNI::kmlFactory katana::KNIConverter::config_ [private] |
Definition at line 54 of file KNIConverter.h.
