#include <KatanaKinematics6M90G.h>

Inheritance diagram for KNI::KatanaKinematics6M90G:

Classes
struct	angles_calc
struct	position
Public Member Functions
void	DK (coordinates &solution, encoders const &current_encoders) const
void	IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
void	init (metrics const &length, parameter_container const &parameters)
Private Types
typedef std::vector< angles_calc >	angles_container
Private Member Functions
void	_setLength (metrics const &length)
void	_setParameters (parameter_container const &parameters)
bool	angledef (angles_calc &a) const
bool	AnglePositionTest (const angles_calc &a) const
bool	GripperTest (const position &p_gr, const angles_calc &angle) const
void	IK_b1b2costh3_6MS (angles_calc &a, const position &p) const
void	IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
bool	PositionTest6MS (const angles_calc &a, const position &p) const
void	thetacomp (angles_calc &a, const position &p_m) const
Private Attributes
metrics	_length
parameter_container	_parameters
Static Private Attributes
static const int	_nrOfPossibleSolutions = 8
static const double	_tolerance = 0.001

Detailed Description

Author:: Tiziano Mueller <tiziano.mueller@neuronics.ch>; Christoph Voser <christoph.voser@neuronics.ch>

Definition at line 39 of file KatanaKinematics6M90G.h.

Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics6M90G::angles_container [private]

Definition at line 70 of file KatanaKinematics6M90G.h.

Member Function Documentation

void KNI::KatanaKinematics6M90G::_setLength ( metrics const & length ) [inline, private]

Definition at line 78 of file KatanaKinematics6M90G.h.

void KNI::KatanaKinematics6M90G::_setParameters ( parameter_container const & parameters ) [inline, private]

Definition at line 79 of file KatanaKinematics6M90G.h.

bool KNI::KatanaKinematics6M90G::angledef ( angles_calc & a ) const [private]

Definition at line 235 of file KatanaKinematics6M90G.cpp.

bool KNI::KatanaKinematics6M90G::AnglePositionTest ( const angles_calc & a ) const [private]

Definition at line 259 of file KatanaKinematics6M90G.cpp.

void KNI::KatanaKinematics6M90G::DK	(	coordinates &	solution,
		encoders const &	current_encoders
	)		const `[virtual]`

Direct Kinematic. Calculates the actual position in cartesian coordinates using the given encoders

Parameters:

solution	This is where the algorithm will store the solution to (in cartesian coordinates)
current_encoders	The encoder values which are being used for the calculation

Note:: strong guarantee provided

Implements KNI::KatanaKinematics.

Definition at line 34 of file KatanaKinematics6M90G.cpp.

bool KNI::KatanaKinematics6M90G::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const `[private]`

Definition at line 173 of file KatanaKinematics6M90G.cpp.

void KNI::KatanaKinematics6M90G::IK	(	encoders::iterator	solution,
		coordinates const &	pose,
		encoders const &	cur_angles
	)		const `[virtual]`

Inverse Kinematic. Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.

Parameters:

solution	This is where the algorithm will store the solution to (in encoders)
pose	The target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_angles	The current angles (in encoders) of the robot

Note:: strong guarantee provided

Implements KNI::KatanaKinematics.

Definition at line 283 of file KatanaKinematics6M90G.cpp.

void KNI::KatanaKinematics6M90G::IK_b1b2costh3_6MS	(	angles_calc &	a,
		const position &	p
	)		const `[private]`

Definition at line 188 of file KatanaKinematics6M90G.cpp.

void KNI::KatanaKinematics6M90G::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const `[private]`

Definition at line 128 of file KatanaKinematics6M90G.cpp.

void KNI::KatanaKinematics6M90G::init	(	metrics const &	length,
		parameter_container const &	parameters
	)		`[virtual]`

Initialize the parameters for the calculations. This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type

Implements KNI::KatanaKinematics.

Definition at line 119 of file KatanaKinematics6M90G.cpp.