katana::KNIConverter Class Reference

#include <KNIConverter.h>

List of all members.

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_

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Detailed Description

Definition at line 36 of file KNIConverter.h.

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Constructor & Destructor Documentation

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.

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Member Function Documentation

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.

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Member Data Documentation

KNI::kmlFactory katana::KNIConverter::config_ [private]

Definition at line 54 of file KNIConverter.h.

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The documentation for this class was generated from the following files:

• KNIConverter.h
• KNIConverter.cpp