KatanaKinematics6M90G.h
Go to the documentation of this file.
1 /***************************************************************************
2  * Copyright (C) 2006 by Tiziano Mueller *
3  * tiziano.mueller@neuronics.ch *
4  * *
5  * This program is free software; you can redistribute it and/or modify *
6  * it under the terms of the GNU General Public License as published by *
7  * the Free Software Foundation; either version 2 of the License, or *
8  * (at your option) any later version. *
9  * *
10  * This program is distributed in the hope that it will be useful, *
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
13  * GNU General Public License for more details. *
14  * *
15  * You should have received a copy of the GNU General Public License *
16  * along with this program; if not, write to the *
17  * Free Software Foundation, Inc., *
18  * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *
19  ***************************************************************************/
20 #ifndef KNIKATANAKINEMATICS6M90G_H
21 #define KNIKATANAKINEMATICS6M90G_H
22 
23 #include "common/dllexport.h"
24 
27 
28 #include <vector>
29 
30 
31 namespace KNI {
32 
40 
41 public:
42 
43  void init(metrics const& length, parameter_container const& parameters);
44 
45  // strong guarantee provided here:
46  void DK(coordinates& solution, encoders const& current_encoders) const;
47  void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const;
48 
49 
50 private:
51 
52  struct position {
53  double x;
54  double y;
55  double z;
56  };
57 
58  struct angles_calc {
59  double theta1;
60  double theta2;
61  double theta3;
62  double theta4;
63  double theta5;
64  double theta234;
65  double b1;
66  double b2;
67  double costh3;
68  };
69 
70  typedef std::vector<angles_calc> angles_container;
71 
74 
75  static const double _tolerance; // initialized in .cpp
76  static const int _nrOfPossibleSolutions;
77 
78  void _setLength(metrics const& length) { _length = length; }
79  void _setParameters(parameter_container const& parameters) { _parameters = parameters; }
80 
81  void IK_theta234theta5(angles_calc& angle, const position &p_gr) const;
82  void IK_b1b2costh3_6MS(angles_calc &a, const position &p) const;
83 
84  void thetacomp(angles_calc &a, const position &p_m) const;
85 
86  bool angledef(angles_calc &a) const;
87 
88  bool GripperTest(const position &p_gr, const angles_calc &angle) const;
89  bool AnglePositionTest(const angles_calc &a) const;
90  bool PositionTest6MS(const angles_calc &a, const position &p) const;
91 
92 };
93 
94 
95 
96 
97 
98 }
99 
100 #endif
std::vector< angles_calc > angles_container
FloatVector * pose
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
void _setLength(metrics const &length)
void _setParameters(parameter_container const &parameters)
FloatVector FloatVector * a
#define DLLDIR_IK
Definition: dllexport.h:31
FloatVector * angle
std::vector< double > coordinates
To store coordinates.
static const int _nrOfPossibleSolutions
std::vector< int > encoders
To store encoders.
std::vector< double > metrics
To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot.
Definition: Timer.h:30


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:16