#include <KNIConverter.h>
Definition at line 36 of file KNIConverter.h.
| katana::KNIConverter::KNIConverter |
( |
std::string |
config_file_path | ) |
|
| katana::KNIConverter::~KNIConverter |
( |
| ) |
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virtual |
| double katana::KNIConverter::acc_enc2rad |
( |
int |
index, |
|
|
short |
encoders |
|
) |
| |
| double katana::KNIConverter::acc_rad2enc |
( |
int |
index, |
|
|
double |
acc |
|
) |
| |
| double katana::KNIConverter::angle_enc2rad |
( |
int |
index, |
|
|
int |
encoders |
|
) |
| |
| double katana::KNIConverter::angle_rad2enc |
( |
int |
index, |
|
|
double |
angle |
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) |
| |
Theoretically, all *_rad2enc functions should return integers (because encoder values are integer). However, because velocities, accelerations and jerks are divided by 100/100^2/100^3, they would return 0 most of the time. Therefore, return the values as double.
Definition at line 47 of file KNIConverter.cpp.
| double katana::KNIConverter::deg2rad |
( |
const double |
deg | ) |
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|
private |
| double katana::KNIConverter::jerk_enc2rad |
( |
int |
index, |
|
|
short |
encoders |
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) |
| |
| double katana::KNIConverter::jerk_rad2enc |
( |
int |
index, |
|
|
double |
jerk |
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) |
| |
| double katana::KNIConverter::vel_acc_jerk_enc2rad |
( |
int |
index, |
|
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short |
encoders |
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) |
| |
|
private |
| double katana::KNIConverter::vel_acc_jerk_rad2enc |
( |
int |
index, |
|
|
double |
vel_acc_jerk |
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) |
| |
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private |
| double katana::KNIConverter::vel_enc2rad |
( |
int |
index, |
|
|
short |
encoders |
|
) |
| |
| double katana::KNIConverter::vel_rad2enc |
( |
int |
index, |
|
|
double |
vel |
|
) |
| |
Conversions for velocity, acceleration and jerk (first derivative of acceleration). Basically the same as for angle, but without the offsets.
Definition at line 108 of file KNIConverter.cpp.
The documentation for this class was generated from the following files: