KineCalc Class Reference

#include <kinecalc.h>

List of all members.

Public Member Functions
void	CalculateFK (const double fromJoints[])
bool	CalculateIK (const EndEffector &fromPosition)
KineVector	CalculateN (const EndEffector &pose)
const KineVector &	GetA (void) const
const KineVector &	GetN (void) const
const KineVector &	GetO (void) const
const KineVector &	GetP (void) const
double	GetTheta (unsigned int index)
const double *	GetThetas (void) const
	KineCalc (void)
KineVector	Normalise (const KineVector &vector)
void	SetA (const KineVector &newA)
void	SetA (double newAX, double newAY, double newAZ)
void	SetJointRange (unsigned int joint, double min, double max)
void	SetLinkLengths (double newLink1, double newLink2, double newLink3, double newLink4, double newLink5)
void	SetN (const KineVector &newN)
void	SetN (double newNX, double newNY, double newNZ)
void	SetO (const KineVector &newO)
void	SetO (double newOX, double newOY, double newOZ)
void	SetOffset (unsigned int joint, double newOffset)
void	SetP (const KineVector &newP)
void	SetP (double newPX, double newPY, double newPZ)
void	SetTheta (unsigned int index, double newVal)
Protected Member Functions
EndEffector	CalcFKForJoints (const double angles[])
double	CalcSolutionError (const double solution[], const EndEffector &fromPosition)
void	CalcTheta4and5 (double angles[], const EndEffector &fromPosition)
int	ChooseSolution (const EndEffector &fromPosition, const double solutions[][5])
void	PrintEndEffector (const EndEffector &endEffector)
bool	SolutionInRange (const double angles[])
Protected Attributes
EndEffector	endEffector
double	jointMax [5]
double	jointMin [5]
double	jointOffsets [5]
double	joints [5]
double	link1
double	link2
double	link3
double	link4
double	link5

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Detailed Description

Definition at line 43 of file kinecalc.h.

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Constructor & Destructor Documentation

KineCalc::KineCalc

(

void

)

Definition at line 31 of file kinecalc.cc.

---

Member Function Documentation

EndEffector KineCalc::CalcFKForJoints

(

const double

angles[]

)

[protected]

Definition at line 463 of file kinecalc.cc.

double KineCalc::CalcSolutionError	(	const double	solution[],
		const EndEffector &	fromPosition
	)		[protected]

Definition at line 442 of file kinecalc.cc.

void KineCalc::CalcTheta4and5	(	double	angles[],
		const EndEffector &	fromPosition
	)		[protected]

Definition at line 356 of file kinecalc.cc.

void KineCalc::CalculateFK

(

const double

fromJoints[]

)

Definition at line 189 of file kinecalc.cc.

bool KineCalc::CalculateIK

(

const EndEffector &

fromPosition

)

Definition at line 208 of file kinecalc.cc.

KineVector KineCalc::CalculateN

(

const EndEffector &

pose

)

Definition at line 142 of file kinecalc.cc.

int KineCalc::ChooseSolution	(	const EndEffector &	fromPosition,
		const double	solutions[][5]
	)		[protected]

Definition at line 409 of file kinecalc.cc.

const KineVector& KineCalc::GetA

(

void

)

const [inline]

Definition at line 56 of file kinecalc.h.

const KineVector& KineCalc::GetN

(

void

)

const [inline]

Definition at line 54 of file kinecalc.h.

const KineVector& KineCalc::GetO

(

void

)

const [inline]

Definition at line 55 of file kinecalc.h.

const KineVector& KineCalc::GetP

(

void

)

const [inline]

Definition at line 53 of file kinecalc.h.

double KineCalc::GetTheta

(

unsigned int

index

)

Definition at line 86 of file kinecalc.cc.

const double* KineCalc::GetThetas

(

void

)

const [inline]

Definition at line 67 of file kinecalc.h.

KineVector KineCalc::Normalise

(

const KineVector &

vector

)

Definition at line 122 of file kinecalc.cc.

void KineCalc::PrintEndEffector

(

const EndEffector &

endEffector

)

[protected]

Definition at line 172 of file kinecalc.cc.

void KineCalc::SetA

(

const KineVector &

newA

)

[inline]

Definition at line 60 of file kinecalc.h.

void KineCalc::SetA	(	double	newAX,
		double	newAY,
		double	newAZ
	)

Definition at line 79 of file kinecalc.cc.

void KineCalc::SetJointRange	(	unsigned int	joint,
		double	min,
		double	max
	)

Definition at line 110 of file kinecalc.cc.

void KineCalc::SetLinkLengths	(	double	newLink1,
		double	newLink2,
		double	newLink3,
		double	newLink4,
		double	newLink5
	)

Definition at line 96 of file kinecalc.cc.

void KineCalc::SetN

(

const KineVector &

newN

)

[inline]

Definition at line 58 of file kinecalc.h.

void KineCalc::SetN	(	double	newNX,
		double	newNY,
		double	newNZ
	)

Definition at line 65 of file kinecalc.cc.

void KineCalc::SetO

(

const KineVector &

newO

)

[inline]

Definition at line 59 of file kinecalc.h.

void KineCalc::SetO	(	double	newOX,
		double	newOY,
		double	newOZ
	)

Definition at line 72 of file kinecalc.cc.

void KineCalc::SetOffset	(	unsigned int	joint,
		double	newOffset
	)

Definition at line 105 of file kinecalc.cc.

void KineCalc::SetP

(

const KineVector &

newP

)

[inline]

Definition at line 57 of file kinecalc.h.

void KineCalc::SetP	(	double	newPX,
		double	newPY,
		double	newPZ
	)

Definition at line 58 of file kinecalc.cc.

void KineCalc::SetTheta	(	unsigned int	index,
		double	newVal
	)

Definition at line 91 of file kinecalc.cc.

bool KineCalc::SolutionInRange

(

const double

angles[]

)

[protected]

Definition at line 501 of file kinecalc.cc.

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Member Data Documentation

EndEffector KineCalc::endEffector [protected]

Definition at line 90 of file kinecalc.h.

double KineCalc::jointMax[5] [protected]

Definition at line 100 of file kinecalc.h.

double KineCalc::jointMin[5] [protected]

Definition at line 99 of file kinecalc.h.

double KineCalc::jointOffsets[5] [protected]

Definition at line 97 of file kinecalc.h.

double KineCalc::joints[5] [protected]

Definition at line 95 of file kinecalc.h.

double KineCalc::link1 [protected]

Definition at line 105 of file kinecalc.h.

double KineCalc::link2 [protected]

Definition at line 105 of file kinecalc.h.

double KineCalc::link3 [protected]

Definition at line 105 of file kinecalc.h.

double KineCalc::link4 [protected]

Definition at line 105 of file kinecalc.h.

double KineCalc::link5 [protected]

Definition at line 105 of file kinecalc.h.

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

• kinecalc.h
• kinecalc.cc