kinematics.h
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00001 /***************************************************************************
00002  *   Copyright (C) 2008 by Neuronics AG                                    *
00003  *   support@neuronics.ch                                                  *
00004  ***************************************************************************/
00005 
00010 #ifndef _ANAGUESS_KINEMATICS_H_
00011 #define _ANAGUESS_KINEMATICS_H_
00012 
00013 //std:
00014 #include <string>
00015 #include <queue>
00016 #include <vector>
00017 #include <map>
00018 #include <algorithm>
00019 
00020 #include "exception.h"
00021 
00022 namespace AnaGuess {
00023 
00024 const double cTolerance = 0.0001;
00025 
00028 class NoSolutionException : public Exception {
00029 public:
00030     NoSolutionException() throw():
00031         Exception("No solution found", -10) {}
00032 
00033 };
00034 
00035 
00037 
00042 class Kinematics {
00043 
00044 private:
00046         int mNumberOfMotors;
00048         int mNumberOfSegments;
00050         std::vector<double> mSegmentLength;
00052         std::vector<double> mAngleOffset;
00054         std::vector<double> mAngleStop;
00056         std::vector<int> mEncodersPerCycle;
00058         std::vector<int> mEncoderOffset;
00060         std::vector<int> mRotationDirection;
00062         virtual bool initialize() = 0;
00063 
00064 
00065 public:
00067         virtual ~Kinematics(){}
00068 
00070         virtual std::vector<double> getLinkLength() = 0;
00072         virtual std::vector<int> getEpc() = 0;
00074         virtual std::vector<int> getEncOff() = 0;
00076         virtual std::vector<int> getDir() = 0;
00078         virtual std::vector<double> getAngOff() = 0;
00080         virtual std::vector<double> getAngStop() = 0;
00082         virtual std::vector<double> getAngRange() = 0;
00084         virtual std::vector<double> getAngMin() = 0;
00086         virtual std::vector<double> getAngMax() = 0;
00088         virtual bool setLinkLength(const std::vector<double> aLengths) = 0;
00090         virtual bool setAngOff(const std::vector<double> aAngOff) = 0;
00092         virtual bool setAngStop(const std::vector<double> aAngStop) = 0;
00093 
00098         virtual bool enc2rad(std::vector<double>& aAngles, const std::vector<int> aEncoders) = 0;
00099 
00104         virtual bool rad2enc(std::vector<int>& aEncoders, const std::vector<double> aAngles) = 0;
00105 
00110         virtual bool directKinematics(std::vector<double>& aPosition, const std::vector<double> aAngles) = 0;
00111 
00118         virtual bool inverseKinematics(std::vector<double>& aAngles, const std::vector<double> aPosition, const std::vector<double> aStartingAngles) = 0;
00119 };
00121 
00122 } // namespace
00123 
00124 #endif //_ANAGUESS_KINEMATICS_H_
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:53