#include "roboop/source/robot.h"
#include "roboop/source/utils.h"
#include "roboop/source/quaternion.h"
#include "AnalyticalGuess/include/kinematics6M180.h"
#include "AnalyticalGuess/include/kinematics6M90G.h"
#include "AnalyticalGuess/include/kinematics6M90T.h"
#include "katana_common.h"
#include <vector>
#include <string>

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Classes
class	KinematicsLib
	Kinematics class using the kinematics lib. More...
Defines
#define	EDOM 33
#define	ERANGE 34
#define	KINLIB_VERSION_MAJOR 1
#define	KINLIB_VERSION_MINOR 3
#define	KINLIB_VERSION_REVISION 0
#define	mPi 3.14159265358979323846
Enumerations
enum	katana_type { K_6M90A_F = 0, K_6M90A_G = 1, K_6M180 = 2, K_6M90B_F = 3, K_6M90B_G = 4 }
Functions
template<typename _T >
_T	atan1 (_T in1, _T in2)
Variables
const double	Angle_offset_180 [] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036}
const double	Angle_offset_90A_F [] = {-3.025529, 2.168572, -2.221804, 0.462512, 1.422443, 3.656465}
const double	Angle_offset_90A_G [] = {-3.025529, 2.168572, -2.221804, 0.462512, 1.422443, 1.570796}
const double	Angle_offset_90B_F [] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036, 3.656465}
const double	Angle_offset_90B_G [] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036, 1.570796}
const double	Angle_range_180 [] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026}
const double	Angle_range_90A_F [] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 5.742133}
const double	Angle_range_90A_G [] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 0.0}
const double	Angle_range_90B_F [] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 5.742133}
const double	Angle_range_90B_G [] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 0.0}
const int	Dof_180 = 5
const int	Dof_90 = 6
const int	Encoder_offset [] = {31000, -31000, -31000, 31000, 31000, 31000}
	Encoder offset.
const int	Encoder_per_cycle [] = {51200, 94976, 47488, 51200, 51200, 51200}
	Encoder per cycle.
const Real	Katana6M180_data []
const Real	Katana6M90A_F_data []
const Real	Katana6M90A_G_data []
const Real	Katana6M90B_F_data []
const Real	Katana6M90B_G_data []
const double	LENGTH_MULTIPLIER = 10.0
const double	Link_length_180 [] = {0.19, 0.139, 0.1473, 0.041}
const double	Link_length_90A_F [] = {0.19, 0.139, 0.1473, 0.036}
const double	Link_length_90A_G [] = {0.19, 0.139, 0.1473, 0.1505}
const double	Link_length_90B_F [] = {0.19, 0.139, 0.1473, 0.036}
const double	Link_length_90B_G [] = {0.19, 0.139, 0.1473, 0.1505}
const int	MaxDof = 10
const int	Rotation_direction [] = {-1, -1, 1, 1, 1, 1}
	Rotation direction.

Define Documentation

#define EDOM 33

Definition at line 27 of file kinematics.h.

#define ERANGE 34

Definition at line 28 of file kinematics.h.

#define KINLIB_VERSION_MAJOR 1

Definition at line 30 of file kinematics.h.

#define KINLIB_VERSION_MINOR 3

Definition at line 31 of file kinematics.h.

#define KINLIB_VERSION_REVISION 0

Definition at line 32 of file kinematics.h.

#define mPi 3.14159265358979323846

Definition at line 25 of file kinematics.h.

Enumeration Type Documentation

enum katana_type

Enumerator:

K_6M90A_F
K_6M90A_G
K_6M180
K_6M90B_F
K_6M90B_G

Definition at line 55 of file kinematics.h.

Function Documentation

template<typename _T >

_T atan1	(	_T	in1,
		_T	in2
	)		`[inline]`

Definition at line 36 of file kinematics.h.

Variable Documentation

const double Angle_offset_180[] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036}

Definition at line 147 of file kinematics.h.

const double Angle_offset_90A_F[] = {-3.025529, 2.168572, -2.221804, 0.462512, 1.422443, 3.656465}

Definition at line 145 of file kinematics.h.

const double Angle_offset_90A_G[] = {-3.025529, 2.168572, -2.221804, 0.462512, 1.422443, 1.570796}

Definition at line 146 of file kinematics.h.

const double Angle_offset_90B_F[] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036, 3.656465}

Definition at line 148 of file kinematics.h.

const double Angle_offset_90B_G[] = {-3.025529, 2.168572, -2.221804, 0.462512, 4.564036, 1.570796}

Definition at line 149 of file kinematics.h.

const double Angle_range_180[] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026}

Definition at line 155 of file kinematics.h.

const double Angle_range_90A_F[] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 5.742133}

Definition at line 153 of file kinematics.h.

const double Angle_range_90A_G[] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 0.0}

Definition at line 154 of file kinematics.h.

const double Angle_range_90B_F[] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 5.742133}

Definition at line 156 of file kinematics.h.

const double Angle_range_90B_G[] = {6.03884, 2.443461, 4.363323, 4.014257, 5.969026, 0.0}

Definition at line 157 of file kinematics.h.

const int Dof_180 = 5

Definition at line 75 of file kinematics.h.

const int Dof_90 = 6

Definition at line 74 of file kinematics.h.

const int Encoder_offset[] = {31000, -31000, -31000, 31000, 31000, 31000}

Encoder offset.

Definition at line 169 of file kinematics.h.

const int Encoder_per_cycle[] = {51200, 94976, 47488, 51200, 51200, 51200}

Encoder per cycle.

Definition at line 167 of file kinematics.h.

const Real Katana6M180_data[]

Initial value:

{0, 0, 0, 0, 0, -3.025529, 3.013311, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, mPi/2.0, -0.274889, 2.168572, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.19, 0, -2.221804, 2.141519, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.139, 0, -3.551745, 0.462512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.1473+0.041, 0, -mPi/2.0, -1.40499, 4.564036, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

Definition at line 121 of file kinematics.h.

const Real Katana6M90A_F_data[]

Initial value:

{0, 0, 0, 0, 0, -3.025529, 3.013311, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, mPi/2.0, -0.274889, 2.168572, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.19, 0, -2.221804, 2.141519, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.139, 0, -3.551745, 0.462512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.1473, 0, -mPi/2.0, -4.546583, 1.422443, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.036, 0, mPi/2.0, -2.085668, 3.656465, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

Definition at line 105 of file kinematics.h.

const Real Katana6M90A_G_data[]

Initial value:

{0, 0, 0, 0, 0, -3.025529, 3.013311, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, mPi/2.0, -0.274889, 2.168572, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.19, 0, -2.221804, 2.141519, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.139, 0, -3.551745, 0.462512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.1473, 0, -mPi/2.0, -4.546583, 1.422443, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, mPi/2.0, 0.1505, 0, mPi/2.0, -3.141593, 3.141593, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1}

Definition at line 113 of file kinematics.h.

const Real Katana6M90B_F_data[]

Initial value:

{0, 0, 0, 0, 0, -3.025529, 3.013311, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, mPi/2.0, -0.274889, 2.168572, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.19, 0, -2.221804, 2.141519, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.139, 0, -3.551745, 0.462512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.1473, 0, -mPi/2.0, -1.40499, 4.564036, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.036, 0, mPi/2.0, -2.160718, 3.721042, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0}

Definition at line 128 of file kinematics.h.

const Real Katana6M90B_G_data[]

Initial value:

{0, 0, 0, 0, 0, -3.025529, 3.013311, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, mPi/2.0, -0.274889, 2.168572, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.19, 0, -2.221804, 2.141519, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.139, 0, -3.551745, 0.462512, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.1473, 0, -mPi/2.0, -1.40499, 4.564036, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, mPi/2.0, 0.1505, 0, mPi/2.0, -3.141593, 3.141593, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1}

Definition at line 136 of file kinematics.h.

const double LENGTH_MULTIPLIER = 10.0

Definition at line 70 of file kinematics.h.

const double Link_length_180[] = {0.19, 0.139, 0.1473, 0.041}

Definition at line 162 of file kinematics.h.

const double Link_length_90A_F[] = {0.19, 0.139, 0.1473, 0.036}

Definition at line 160 of file kinematics.h.

const double Link_length_90A_G[] = {0.19, 0.139, 0.1473, 0.1505}

Definition at line 161 of file kinematics.h.

const double Link_length_90B_F[] = {0.19, 0.139, 0.1473, 0.036}

Definition at line 163 of file kinematics.h.

const double Link_length_90B_G[] = {0.19, 0.139, 0.1473, 0.1505}

Definition at line 164 of file kinematics.h.

const int MaxDof = 10

Definition at line 72 of file kinematics.h.

const int Rotation_direction[] = {-1, -1, 1, 1, 1, 1}

Rotation direction.

Definition at line 171 of file kinematics.h.

Classes

Defines

Enumerations

Functions

Variables

Define Documentation

Enumeration Type Documentation

Function Documentation

Variable Documentation