Public Member Functions | Private Member Functions | Private Attributes
CLMBase Class Reference

Linear movement Class. More...

#include <lmBase.h>

Inheritance diagram for CLMBase:
Inheritance graph
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List of all members.

Public Member Functions

 CLMBase ()
bool getActivatePositionController ()
double getMaximumLinearVelocity () const
void moveRobotLinearTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void moveRobotLinearTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)
void 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 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 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)
void setActivatePositionController (bool activate)
void setMaximumLinearVelocity (double maximumVelocity)

Private Member Functions

bool checkJointSpeed (std::vector< int > lastsolution, std::vector< int > solution, double time)
int getSpeed (int distance, int acceleration, int time)
double relPosition (double reltime, double distance, double acc, double dec, double vmax)
void splineCoefficients (int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4)
double totalTime (double distance, double acc, double dec, double vmax)

Private Attributes

bool _activatePositionController
double _maximumVelocity

Detailed Description

Linear movement Class.

This class allows to do linear movements with the Katana robot.

Definition at line 73 of file lmBase.h.


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


kni
Author(s): Martin Günther
autogenerated on Thu Jun 6 2019 21:42:35