Classes
class	CannotGetSetPortAttributesException
class	CannotOpenPortException
class	CLMBase
	Linear movement Class. More...
class	ConfigFileEntryNotFoundException
class	ConfigFileOpenException
class	ConfigFileSectionNotFoundException
class	ConfigFileStateException
class	ConfigFileSubsectionNotFoundException
class	ConfigFileSyntaxErrorException
struct	Context
class	DeviceReadException
class	DeviceWriteException
class	ErrorException
class	Exception
class	FirmwareException
class	JointSpeedException
class	MotorCrashException
class	MotorOutOfRangeException
class	MotorTimeoutException
class	KNI::NoSolutionException
class	ParameterReadingException
class	ParameterWritingException
class	PortNotOpenException
class	ReadNotCompleteException
class	ReadWriteNotCompleteException
class	SlaveErrorException
class	WaitParameterException
class	WriteNotCompleteException
class	WrongCRCException
class	WrongParameterException
Functions
bool	CLMBase::checkJointSpeed (std::vector< int > lastsolution, std::vector< int > solution, double time)
	CLMBase::CLMBase ()
bool	CLMBase::getActivatePositionController ()
double	CLMBase::getMaximumLinearVelocity () const
int	CLMBase::getSpeed (int distance, int acceleration, int time)
	JointSpeedException::JointSpeedException () throw ()
void	CLMBase::moveRobotLinearTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void	CLMBase::moveRobotLinearTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void	CLMBase::moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void	CLMBase::moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void	CLMBase::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	CLMBase::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	CLMBase::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)
double	CLMBase::relPosition (double reltime, double distance, double acc, double dec, double vmax)
void	CLMBase::setActivatePositionController (bool activate)
void	CLMBase::setMaximumLinearVelocity (double maximumVelocity)
void	CLMBase::splineCoefficients (int steps, double timearray, double encoderarray, double arr_p1, double arr_p2, double arr_p3, double arr_p4)
double	CLMBase::totalTime (double distance, double acc, double dec, double vmax)
	WaitParameterException::WaitParameterException () throw ()
Variables
bool	CLMBase::_activatePositionController
double	CLMBase::_maximumVelocity

Function Documentation

bool CLMBase::checkJointSpeed	(	std::vector< int >	lastsolution,
		std::vector< int >	solution,
		double	time
	)		`[private]`

Checks if the joint speeds are below speed limit.

Maximum joint speed is 180enc / 10ms.

Author:: Jonas Haller

Parameters:

lastsolution	encoder values of last point
solution	encoder values of current point
time	time difference between the points in s

Returns:: true if joint speeds ok, false if joint speed too high

Definition at line 407 of file lmBase.cpp.

CLMBase::CLMBase ( ) [inline]

Definition at line 153 of file lmBase.h.

bool CLMBase::getActivatePositionController ( )

Check if the position controller will be activated after the linear movement

Definition at line 914 of file lmBase.cpp.

double CLMBase::getMaximumLinearVelocity ( ) const

Definition at line 907 of file lmBase.cpp.

int CLMBase::getSpeed	(	int	distance,
		int	acceleration,
		int	time
	)		`[private]`

Calculates speed from distance, acceleration and time for the movement.

Author:: Jonas Haller

Parameters:

distance	absolute (positive) distance of the movement in encoder
acceleration	acceleration and deceleration in enc / s^2
time	time that can be used for the movement in s

Returns:: speed in enc / s to finish the movement on time

Definition at line 423 of file lmBase.cpp.

JointSpeedException::JointSpeedException ( ) throw () [inline]

Definition at line 54 of file lmBase.h.

void CLMBase::moveRobotLinearTo	(	double	x,
		double	y,
		double	z,
		double	phi,
		double	theta,
		double	psi,
		bool	waitUntilReached = `true`,
		int	waitTimeout = `TM_ENDLESS`
	)

Parameters:

waitUntilReached has to be true with new implementation of movLM2P

Definition at line 869 of file lmBase.cpp.

void CLMBase::moveRobotLinearTo	(	std::vector< double >	coordinates,
		bool	waitUntilReached = `true`,
		int	waitTimeout = `TM_ENDLESS`
	)

This method does the same as the one above and is mainly provided for convenience

Note:: You can call this function in python using tuples: Example: katana.moveRobotLinearTo( (x,y,z,phi,theta,psi) ); If the size of the container is smaller than 6, it will throw an exception!

Definition at line 876 of file lmBase.cpp.

void CLMBase::moveRobotTo	(	double	x,
		double	y,
		double	z,
		double	phi,
		double	theta,
		double	psi,
		bool	waitUntilReached = `true`,
		int	waitTimeout = `TM_ENDLESS`
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note:: Instead of a given tolerance, a default tolerance is being used

Reimplemented from CikBase.

Definition at line 880 of file lmBase.cpp.

void CLMBase::moveRobotTo	(	std::vector< double >	coordinates,
		bool	waitUntilReached = `true`,
		int	waitTimeout = `TM_ENDLESS`
	)

This method does the same as the one above and is mainly provided for convenience

Note:: You can call this function in python using tuples: Example: katana.moveRobotTo( (x,y,z,phi,theta,psi) ); If the size of the container is smaller than 6, it will throw an exception

Reimplemented from CikBase.

Definition at line 895 of file lmBase.cpp.

void CLMBase::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`
	)

Parameters:

wait	has to be true with new implementation of movLM2P

Definition at line 853 of file lmBase.cpp.

void CLMBase::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`
	)

Move linear from point to point using multiple splines.

Author:: Jonas Haller

Parameters:

X1,Y1,Z1,Ph1,Th1,Ps1	X, Y, Z, Phi, Theta, Psi of actual position
X2,Y2,Z2,Ph2,Th2,Ps2	X, Y, Z, Phi, Theta, Psi of target position
exactflag	activate the position controller after the movement
vmax	maximum velocity of the movement in mm/s
wait	wait for end of movement
tolerance	tolerance for all motor encoders
timeout	timeout for linear movement in ms

Exceptions:

NoSolutionException	if no solution found for IK
JointSpeedException	if joint speed too high
WaitParameterException	if wait set to false

Returns:: void

Definition at line 32 of file lmBase.cpp.

void CLMBase::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`
	)

Move point to point using splines.

Author:: Jonas Haller

Parameters:

X1,Y1,Z1,Ph1,Th1,Ps1	X, Y, Z, Phi, Theta, Psi of actual position
X2,Y2,Z2,Ph2,Th2,Ps2	X, Y, Z, Phi, Theta, Psi of target position
exactflag	activate the position controller after the movement
vmax	maximum velocity for motors
wait	wait for end of movement
tolerance	tolerance for all motor encoders
timeout	timeout for movement in ms

Exceptions:

NoSolutionException	if no solution found for IK
JointSpeedException	if joint speed too high
WaitParameterException	if wait set to false

Returns:: void

Definition at line 457 of file lmBase.cpp.

double CLMBase::relPosition	(	double	reltime,
		double	distance,
		double	acc,
		double	dec,
		double	vmax
	)		`[private]`

Calculates the relative position reached after the relative time given.

Author:: Jonas Haller

Parameters:

reltime	relative time (fraction of totaltime)
distance	distance of the movement in mm
acc	acceleration at the beginning in mm/s^2
dec	deceleration at the end in mm/s^2
vmax	maximum velocity of the movement in mm/s

Returns:: relative distance (fraction of distance)

Definition at line 284 of file lmBase.cpp.

void CLMBase::setActivatePositionController ( bool activate )

Re-Activate the position controller after the linear movement.

Note:: This can result in a small movement after the movement

Definition at line 911 of file lmBase.cpp.

void CLMBase::setMaximumLinearVelocity ( double maximumVelocity )

Definition at line 900 of file lmBase.cpp.

void CLMBase::splineCoefficients	(	int	steps,
		double *	timearray,
		double *	encoderarray,
		double *	arr_p1,
		double *	arr_p2,
		double *	arr_p3,
		double *	arr_p4
	)		`[private]`

Calculates the spline coefficient and stores them in arr_p1 - arr_p4.

Boundary conditions are that f_1'=0 and f_n'=0 (zero velocity at beginning and end of the movement) and f_i''=P_(i+1)''.

Author:: Jonas Haller

Parameters:

steps	number of splines to calculate
timearray	times of the points (length = steps + 1)
encoderarray	encoder values of the points (length = steps + 1)
arr_p1	to return parameters 1 (length = steps)
arr_p2	to return parameters 2 (length = steps)
arr_p3	to return parameters 3 (length = steps)
arr_p4	to return parameters 4 (length = steps)

Returns:: void

Definition at line 316 of file lmBase.cpp.

double CLMBase::totalTime	(	double	distance,
		double	acc,
		double	dec,
		double	vmax
	)		`[private]`

Calculates time needed for movement over a distance.

Author:: Jonas Haller

Parameters:

distance	distance of the movement in mm
acc	acceleration at the beginning in mm/s^2
dec	deceleration at the end in mm/s^2
vmax	maximum velocity of the movement in mm/s

Returns:: time needed for the movement in s

Definition at line 267 of file lmBase.cpp.

WaitParameterException::WaitParameterException ( ) throw () [inline]

Definition at line 62 of file lmBase.h.

Variable Documentation

bool CLMBase::_activatePositionController [private]

Definition at line 77 of file lmBase.h.

double CLMBase::_maximumVelocity [private]

Definition at line 76 of file lmBase.h.

Classes

Functions

Variables

Function Documentation

Variable Documentation