Linear movement Class. More...
#include <lmBase.h>
Public Member Functions | |
| CLMBase () | |
| bool | getActivatePositionController () |
| double | getMaximumLinearVelocity () const |
| void | moveRobotLinearTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
| void | moveRobotLinearTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
| void | moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
| void | moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
| void | movLM (double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) |
| void | movLM2P (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) |
| void | movP2P (double X1, double Y1, double Z1, double Ph1, double Th1, double Ps1, double X2, double Y2, double Z2, double Ph2, double Th2, double Ps2, bool exactflag, double vmax, bool wait=true, long timeout=TM_ENDLESS) |
| void | setActivatePositionController (bool activate) |
| void | setMaximumLinearVelocity (double maximumVelocity) |
Private Member Functions | |
| bool | checkJointSpeed (std::vector< int > lastsolution, std::vector< int > solution, double time) |
| int | getSpeed (int distance, int acceleration, int time) |
| double | relPosition (double reltime, double distance, double acc, double dec, double vmax) |
| void | splineCoefficients (int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4) |
| double | totalTime (double distance, double acc, double dec, double vmax) |
Private Attributes | |
| bool | _activatePositionController |
| double | _maximumVelocity |
Linear movement Class.
This class allows to do linear movements with the Katana robot.
