#include <KatanaKinematics.h>
Public Types | |
| typedef std::vector< double > | angles |
| typedef std::vector< double > | coordinates |
| typedef std::vector< int > | encoders |
| typedef std::vector< double > | metrics |
| typedef std::vector < KinematicParameters > | parameter_container |
Public Member Functions | |
| virtual void | DK (coordinates &solution, encoders const ¤t_encoders) const =0 |
| virtual void | IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0 |
| virtual void | init (metrics const &length, parameter_container const ¶meters)=0 |
| virtual | ~KatanaKinematics () |
Detailed Description
The base class for all kinematic implementations.
Definition at line 63 of file KatanaKinematics.h.
Member Typedef Documentation
| typedef std::vector<double> KNI::KatanaKinematics::angles |
Being used to store angles (in radian).
Definition at line 71 of file KatanaKinematics.h.
| typedef std::vector<double> KNI::KatanaKinematics::coordinates |
To store coordinates.
Definition at line 74 of file KatanaKinematics.h.
| typedef std::vector<int> KNI::KatanaKinematics::encoders |
To store encoders.
Definition at line 80 of file KatanaKinematics.h.
| typedef std::vector<double> KNI::KatanaKinematics::metrics |
To store metrics, 'aka' the length's of the different segments of the robot.
Definition at line 77 of file KatanaKinematics.h.
| typedef std::vector<KinematicParameters> KNI::KatanaKinematics::parameter_container |
Definition at line 67 of file KatanaKinematics.h.
Constructor & Destructor Documentation
| virtual KNI::KatanaKinematics::~KatanaKinematics | ( | ) | [inline, virtual] |
Definition at line 65 of file KatanaKinematics.h.
Member Function Documentation
| virtual void KNI::KatanaKinematics::DK | ( | coordinates & | solution, |
| encoders const & | current_encoders | ||
| ) | const [pure 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
Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.
| virtual void KNI::KatanaKinematics::IK | ( | encoders::iterator | solution, |
| coordinates const & | pose, | ||
| encoders const & | cur_angles | ||
| ) | const [pure 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
Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.
| virtual void KNI::KatanaKinematics::init | ( | metrics const & | length, |
| parameter_container const & | parameters | ||
| ) | [pure 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
Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.
The documentation for this class was generated from the following file: