KatanaKinematics6M90T.h
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20 #ifndef KNIKatanaKinematics6M90T_H
21 #define KNIKatanaKinematics6M90T_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 theta6;
65  double theta234;
66  double b1;
67  double b2;
68  double costh3;
69  };
70 
71  typedef std::vector<angles_calc> angles_container;
72 
75 
76  static const double _tolerance; // initialized in .cpp
77  static const int _nrOfPossibleSolutions;
78 
79  void _setLength(metrics const& length) { _length = length; }
80  void _setParameters(parameter_container const& parameters) { _parameters = parameters; }
81 
82  void IK_theta234theta5(angles_calc& angle, const position &p_gr) const;
83  void IK_b1b2costh3_6MS(angles_calc &a, const position &p) const;
84 
85  void thetacomp(angles_calc &a, const position &p_m, const coordinates& pose) const;
86 
87  bool angledef(angles_calc &a) const;
88 
89  bool GripperTest(const position &p_gr, const angles_calc &angle) const;
90  bool AnglePositionTest(const angles_calc &a) const;
91  bool PositionTest6MS(const double& theta1, const double& theta2, const double& theta3, const double& theta234, const position &p) const;
92 
93  double findFirstEqualAngle(const angles& v1, const angles& v2) const;
94 
95 };
96 
97 
98 
99 
100 
101 }
102 
103 #endif
std::vector< double > angles
Being used to store angles (in radian).
void _setLength(metrics const &length)
std::vector< angles_calc > angles_container
FloatVector * pose
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
void _setParameters(parameter_container const &parameters)
static const int _nrOfPossibleSolutions
FloatVector FloatVector * a
#define DLLDIR_IK
Definition: dllexport.h:31
FloatVector * angle
double findFirstEqualAngle(double cosValue, double sinValue, double tolerance)
std::vector< double > coordinates
To store coordinates.
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