Implements the kinematics for the Katana6M90T. More...

#include <kinematics6M90T.h>

Inheritance diagram for AnaGuess::Kinematics6M90T:

Classes
struct	angles_calc
struct	position
	structs, type and constants used in inverse kinematics calculation More...
Public Member Functions
bool	directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)
bool	enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)
std::vector< double >	getAngMax ()
	get angle max
std::vector< double >	getAngMin ()
	get angle min
std::vector< double >	getAngOff ()
	get angle offset
std::vector< double >	getAngRange ()
	get angle range
std::vector< double >	getAngStop ()
	get angle stop
std::vector< int >	getDir ()
	get direction
std::vector< int >	getEncOff ()
	get encoder offset
std::vector< int >	getEpc ()
	get encoders per cycle
std::vector< double >	getLinkLength ()
	get link length
bool	inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)
	Kinematics6M90T ()
	Constructor.
bool	rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)
bool	setAngOff (const std::vector< double > aAngOff)
	set angle offset
bool	setAngStop (const std::vector< double > aAngStop)
	set angle stop
bool	setLinkLength (const std::vector< double > aLengths)
	set link length
	~Kinematics6M90T ()
	Destructor.
Private Types
typedef std::vector< angles_calc >	angles_container
Private Member Functions
bool	angledef (angles_calc &a) const
bool	AnglePositionTest (const angles_calc &a) const
double	findFirstEqualAngle (const std::vector< double > &v1, const std::vector< double > &v2) const
bool	GripperTest (const position &p_gr, const angles_calc &angle) const
void	IK_b1b2costh3_6MS (angles_calc &angle, const position &p) const
void	IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
	helper functions
bool	initialize ()
	initialization routine
bool	PositionTest6MS (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const
void	thetacomp (angles_calc &angle, const position &p_m, const std::vector< double > &pose) const
Private Attributes
std::vector< double >	mAngleOffset
	Angle offset vector [rad].
std::vector< double >	mAngleStop
	Angle stop vector [rad].
std::vector< int >	mEncoderOffset
	Encoder offset vector.
std::vector< int >	mEncodersPerCycle
	Encoders per cycle vector.
bool	mIsInitialized
	Initialized flag.
int	mNumberOfMotors
	Number of motors of the robot.
int	mNumberOfSegments
	Number of segments of the robot.
std::vector< int >	mRotationDirection
	Rotation direction vector [1\|-1].
std::vector< double >	mSegmentLength
	Effector segment lengths vector [m].
Static Private Attributes
static const int	cNrOfPossibleSolutions = 8

Detailed Description

Implements the kinematics for the Katana6M90T.

This class implemets the abstract kinematics interface for the Katana6M90T

Definition at line 30 of file kinematics6M90T.h.

Member Typedef Documentation

typedef std::vector<angles_calc> AnaGuess::Kinematics6M90T::angles_container [private]

Definition at line 69 of file kinematics6M90T.h.

Constructor & Destructor Documentation

AnaGuess::Kinematics6M90T::Kinematics6M90T ( )

Constructor.

Definition at line 11 of file kinematics6M90T.cpp.

AnaGuess::Kinematics6M90T::~Kinematics6M90T ( )

Destructor.

Definition at line 15 of file kinematics6M90T.cpp.

Member Function Documentation

bool AnaGuess::Kinematics6M90T::angledef ( angles_calc & a ) const [private]

Definition at line 626 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::AnglePositionTest ( const angles_calc & a ) const [private]

Definition at line 653 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::directKinematics	(	std::vector< double > &	aPosition,
		const std::vector< double >	aAngles
	)		`[virtual]`

calculates the direct kinematics

Parameters:

aPosition	empty vector to store the position
aAngles	the angle vector

Returns:: true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 140 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::enc2rad	(	std::vector< double > &	aAngles,
		const std::vector< int >	aEncoders
	)		`[virtual]`

calculates the angles corresponding to the given encoders

Parameters:

aAngles	empty vector to store the angles
aEncoders	the encoder vector

Returns:: true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 125 of file kinematics6M90T.cpp.

double AnaGuess::Kinematics6M90T::findFirstEqualAngle	(	const std::vector< double > &	v1,
		const std::vector< double > &	v2
	)		const `[private]`

Definition at line 505 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngMax ( ) [virtual]

get angle max

Implements AnaGuess::Kinematics.

Definition at line 75 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngMin ( ) [virtual]

get angle min

Implements AnaGuess::Kinematics.

Definition at line 63 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngOff ( ) [virtual]

get angle offset

Implements AnaGuess::Kinematics.

Definition at line 39 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngRange ( ) [virtual]

get angle range

Implements AnaGuess::Kinematics.

Definition at line 49 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getAngStop ( ) [virtual]

get angle stop

Implements AnaGuess::Kinematics.

Definition at line 44 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getDir ( ) [virtual]

get direction

Implements AnaGuess::Kinematics.

Definition at line 34 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getEncOff ( ) [virtual]

get encoder offset

Implements AnaGuess::Kinematics.

Definition at line 29 of file kinematics6M90T.cpp.

std::vector< int > AnaGuess::Kinematics6M90T::getEpc ( ) [virtual]

get encoders per cycle

Implements AnaGuess::Kinematics.

Definition at line 24 of file kinematics6M90T.cpp.

std::vector< double > AnaGuess::Kinematics6M90T::getLinkLength ( ) [virtual]

get link length

Implements AnaGuess::Kinematics.

Definition at line 19 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const `[private]`

Definition at line 478 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_b1b2costh3_6MS	(	angles_calc &	angle,
		const position &	p
	)		const `[private]`

Definition at line 491 of file kinematics6M90T.cpp.

void AnaGuess::Kinematics6M90T::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const `[private]`

helper functions

Definition at line 437 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::initialize ( ) [private, virtual]

initialization routine

Implements AnaGuess::Kinematics.

Definition at line 380 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::inverseKinematics	(	std::vector< double > &	aAngles,
		const std::vector< double >	aPosition,
		const std::vector< double >	aStartingAngles
	)		`[virtual]`

caltulates the inverse kinematics

Parameters:

aAngles	empty vector to store the angles
aPosition	the position vector
aStartingAngles	starting angle vector to find the best (nearest) solution

Exceptions:

NoSolutionException if no solutios exists

Returns:: true if no error occurred, false on error

Implements AnaGuess::Kinematics.

Definition at line 243 of file kinematics6M90T.cpp.

bool AnaGuess::Kinematics6M90T::PositionTest6MS	(	const double &	theta1,
		const double &	theta2,
		const double &	theta3,
		const double &	theta234,
		const position &	p
	)		const `[private]`