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AnaGuess::Kinematics6M90T Class Reference

Implements the kinematics for the Katana6M90T. More...

#include <kinematics6M90T.h>

Inheritance diagram for AnaGuess::Kinematics6M90T:
Inheritance graph
[legend]

List of all members.

Classes

struct  angles_calc
struct  position
 structs, type and constants used in inverse kinematics calculation More...

Public Member Functions

bool directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)
bool enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)
std::vector< double > getAngMax ()
 get angle max
std::vector< double > getAngMin ()
 get angle min
std::vector< double > getAngOff ()
 get angle offset
std::vector< double > getAngRange ()
 get angle range
std::vector< double > getAngStop ()
 get angle stop
std::vector< int > getDir ()
 get direction
std::vector< int > getEncOff ()
 get encoder offset
std::vector< int > getEpc ()
 get encoders per cycle
std::vector< double > getLinkLength ()
 get link length
bool inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)
 Kinematics6M90T ()
 Constructor.
bool rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)
bool setAngOff (const std::vector< double > aAngOff)
 set angle offset
bool setAngStop (const std::vector< double > aAngStop)
 set angle stop
bool setLinkLength (const std::vector< double > aLengths)
 set link length
 ~Kinematics6M90T ()
 Destructor.

Private Types

typedef std::vector< angles_calcangles_container

Private Member Functions

bool angledef (angles_calc &a) const
bool AnglePositionTest (const angles_calc &a) const
double findFirstEqualAngle (const std::vector< double > &v1, const std::vector< double > &v2) const
bool GripperTest (const position &p_gr, const angles_calc &angle) const
void IK_b1b2costh3_6MS (angles_calc &angle, const position &p) const
void IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
 helper functions
bool initialize ()
 initialization routine
bool PositionTest6MS (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const
void thetacomp (angles_calc &angle, const position &p_m, const std::vector< double > &pose) const

Private Attributes

std::vector< double > mAngleOffset
 Angle offset vector [rad].
std::vector< double > mAngleStop
 Angle stop vector [rad].
std::vector< int > mEncoderOffset
 Encoder offset vector.
std::vector< int > mEncodersPerCycle
 Encoders per cycle vector.
bool mIsInitialized
 Initialized flag.
int mNumberOfMotors
 Number of motors of the robot.
int mNumberOfSegments
 Number of segments of the robot.
std::vector< int > mRotationDirection
 Rotation direction vector [1|-1].
std::vector< double > mSegmentLength
 Effector segment lengths vector [m].

Static Private Attributes

static const int cNrOfPossibleSolutions = 8

Detailed Description

Implements the kinematics for the Katana6M90T.

This class implemets the abstract kinematics interface for the Katana6M90T

Definition at line 30 of file kinematics6M90T.h.


Member Typedef Documentation

Definition at line 69 of file kinematics6M90T.h.


Constructor & Destructor Documentation

Constructor.

Definition at line 11 of file kinematics6M90T.cpp.

Destructor.

Definition at line 15 of file kinematics6M90T.cpp.


Member Function Documentation

Definition at line 626 of file kinematics6M90T.cpp.

Definition at line 653 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::directKinematics ( std::vector< double > &  aPosition,
const std::vector< double >  aAngles 
) [virtual]

calculates the direct kinematics

Parameters:
aPositionempty vector to store the position
aAnglesthe angle vector
Returns:
true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 140 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::enc2rad ( std::vector< double > &  aAngles,
const std::vector< int >  aEncoders 
) [virtual]

calculates the angles corresponding to the given encoders

Parameters:
aAnglesempty vector to store the angles
aEncodersthe encoder vector
Returns:
true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 125 of file kinematics6M90T.cpp.

double AnaGuess::Kinematics6M90T::findFirstEqualAngle ( const std::vector< double > &  v1,
const std::vector< double > &  v2 
) const [private]

Definition at line 505 of file kinematics6M90T.cpp.

get angle max

Implements AnaGuess::Kinematics.

Definition at line 75 of file kinematics6M90T.cpp.

get angle min

Implements AnaGuess::Kinematics.

Definition at line 63 of file kinematics6M90T.cpp.

get angle offset

Implements AnaGuess::Kinematics.

Definition at line 39 of file kinematics6M90T.cpp.

get angle range

Implements AnaGuess::Kinematics.

Definition at line 49 of file kinematics6M90T.cpp.

get angle stop

Implements AnaGuess::Kinematics.

Definition at line 44 of file kinematics6M90T.cpp.

get direction

Implements AnaGuess::Kinematics.

Definition at line 34 of file kinematics6M90T.cpp.

get encoder offset

Implements AnaGuess::Kinematics.

Definition at line 29 of file kinematics6M90T.cpp.

get encoders per cycle

Implements AnaGuess::Kinematics.

Definition at line 24 of file kinematics6M90T.cpp.

get link length

Implements AnaGuess::Kinematics.

Definition at line 19 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::GripperTest ( const position p_gr,
const angles_calc angle 
) const [private]

Definition at line 478 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_b1b2costh3_6MS ( angles_calc angle,
const position p 
) const [private]

Definition at line 491 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_theta234theta5 ( angles_calc angle,
const position p_gr 
) const [private]

helper functions

Definition at line 437 of file kinematics6M90T.cpp.

initialization routine

Implements AnaGuess::Kinematics.

Definition at line 380 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::inverseKinematics ( std::vector< double > &  aAngles,
const std::vector< double >  aPosition,
const std::vector< double >  aStartingAngles 
) [virtual]

caltulates the inverse kinematics

Parameters:
aAnglesempty vector to store the angles
aPositionthe position vector
aStartingAnglesstarting angle vector to find the best (nearest) solution
Exceptions:
NoSolutionExceptionif no solutios exists
Returns:
true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 243 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::PositionTest6MS ( const double &  theta1,
const double &  theta2,
const double &  theta3,
const double &  theta234,
const position p 
) const [private]

Definition at line 612 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::rad2enc ( std::vector< int > &  aEncoders,
const std::vector< double >  aAngles 
) [virtual]

calculates the encoders corresponding to the given angles

Parameters:
aEncodersempty vector to store the encoders
aAnglesthe angle vector
Returns:
true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 132 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setAngOff ( const std::vector< double >  aAngOff) [virtual]

set angle offset

Implements AnaGuess::Kinematics.

Definition at line 100 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setAngStop ( const std::vector< double >  aAngStop) [virtual]

set angle stop

Implements AnaGuess::Kinematics.

Definition at line 112 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::setLinkLength ( const std::vector< double >  aLengths) [virtual]

set link length

Implements AnaGuess::Kinematics.

Definition at line 88 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::thetacomp ( angles_calc angle,
const position p_m,
const std::vector< double > &  pose 
) const [private]

Definition at line 517 of file kinematics6M90T.cpp.


Member Data Documentation

const int AnaGuess::Kinematics6M90T::cNrOfPossibleSolutions = 8 [static, private]

Definition at line 70 of file kinematics6M90T.h.

Angle offset vector [rad].

Reimplemented from AnaGuess::Kinematics.

Definition at line 39 of file kinematics6M90T.h.

Angle stop vector [rad].

Reimplemented from AnaGuess::Kinematics.

Definition at line 41 of file kinematics6M90T.h.

Encoder offset vector.

Reimplemented from AnaGuess::Kinematics.

Definition at line 45 of file kinematics6M90T.h.

Encoders per cycle vector.

Reimplemented from AnaGuess::Kinematics.

Definition at line 43 of file kinematics6M90T.h.

Initialized flag.

Definition at line 49 of file kinematics6M90T.h.

Number of motors of the robot.

Reimplemented from AnaGuess::Kinematics.

Definition at line 33 of file kinematics6M90T.h.

Number of segments of the robot.

Reimplemented from AnaGuess::Kinematics.

Definition at line 35 of file kinematics6M90T.h.

Rotation direction vector [1|-1].

Reimplemented from AnaGuess::Kinematics.

Definition at line 47 of file kinematics6M90T.h.

Effector segment lengths vector [m].

Reimplemented from AnaGuess::Kinematics.

Definition at line 37 of file kinematics6M90T.h.


The documentation for this class was generated from the following files:
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:56