Linear movement Class. More...
#include <lmBase.h>
Inheritance diagram for CLMBase:
Public Member Functions | |
| CLMBase () | |
| bool | getActivatePositionController () |
| Check if the position controller will be activated after the linear movement. More... | |
| 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) |
 Public Member Functions inherited from CikBase | |
| CikBase () | |
| void | DKApos (double *position) |
| void | getCoordinates (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true) |
| void | getCoordinatesFromEncoders (std::vector< double > &pose, const std::vector< int > &encs) |
| Returns the position of the robot corresponting to the given encoders in cartesian coordinates. More... | |
| void | getKinematicsVersion (std::vector< int > &version) |
| void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter) |
| void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition) |
| void | IKGoto (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| void | moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
| void | moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
| void | setTcpOffset (double xoff, double yoff, double zoff, double psioff) |
| ~CikBase () | |
| Public Member Functions inherited from CKatana | |
| void | calibrate () |
| void | calibrate (long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl) |
| bool | checkENLD (long idx, double degrees) |
| Check if the absolute position in degrees is out of range. More... | |
| CKatana () | |
| Constructor. More... | |
| void | closeGripper (bool waitUntilReached=false, int waitTimeout=100) |
| void | create (const char *configurationFile, CCplBase *protocol) |
| Create routine. More... | |
| void | create (KNI::kmlFactory *infos, CCplBase *protocol) |
| void | create (TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol) |
| Create routine. More... | |
| void | dec (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Decrements the motor specified by an index postion in encoders. More... | |
| void | decDegrees (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Decrements the motor specified by an index postion in degree units. More... | |
| void | disableCrashLimits () |
| crash limits disable More... | |
| void | enableCrashLimits () |
| crash limits enable More... | |
| void | flushMoveBuffers () |
| flush move buffers More... | |
| void | freezeMotor (short number) |
| void | freezeRobot () |
| CKatBase * | GetBase () |
| Returns pointer to 'CKatBase*'. More... | |
| int | getCurrentControllerType (int axis) |
| Get the axis controller type. More... | |
| short | getForce (int axis) |
| Get the current force. More... | |
| void | getGripperParameters (bool &isPresent, int &openEncoders, int &closeEncoders) |
| Get the gripper parameters. More... | |
| short | getMotorAccelerationLimit (short number) const |
| int | getMotorEncoders (short number, bool refreshEncoders=true) const |
| short | getMotorVelocityLimit (short number) const |
| short | getNumberOfMotors () const |
| std::vector< int >::iterator | getRobotEncoders (std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const |
| std::vector< int > | getRobotEncoders (bool refreshEncoders=true) const |
| void | inc (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Increments the motor specified by an index postion in encoders. More... | |
| void | incDegrees (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Increments the motor specified by an index postion in degree units. More... | |
| void | mov (long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Moves the motor specified by an index to a given target position in encoders. More... | |
| void | movDegrees (long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Moves the motor specified by an index to a given target position in degree units. More... | |
| void | moveMotorBy (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) |
| void | moveMotorByEnc (short number, int encoders, bool waitUntilReached=false, int waitTimeout=0) |
| void | moveMotorTo (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) |
| void | moveMotorToEnc (short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
| void | moveRobotToEnc (std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
| void | moveRobotToEnc (std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
| void | moveRobotToEnc4D (std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100) |
| Move to robot to given target in the vector-container with the given velocity, acceleration and tolerance. More... | |
| void | openGripper (bool waitUntilReached=false, int waitTimeout=100) |
| int | readDigitalIO () |
| Read The Digital I/Os. More... | |
| void | searchMechStop (long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl) |
| void | sendSplineToMotor (short number, short targetPosition, short duration, short p1, short p2, short p3, short p4) |
| void | setAndStartPolyMovement (std::vector< short > polynomial, bool exactflag, int moreflag) |
| void | setCrashLimit (long idx, int limit) |
| unblock robot after a crash More... | |
| void | setForceLimit (int axis, int limit) |
| Set the force limit for the current controller. More... | |
| void | setGripperParameters (bool isPresent, int openEncoders, int closeEncoders) |
| void | setMotorAccelerationLimit (short number, short acceleration) |
| void | setMotorVelocityLimit (short number, short velocity) |
| void | setPositionCollisionLimit (long idx, int limit) |
| set collision position limits More... | |
| void | setRobotAccelerationLimit (short acceleration) |
| void | setRobotVelocityLimit (short velocity) |
| void | setSpeedCollisionLimit (long idx, int limit) |
| set collision speed limits More... | |
| void | startSplineMovement (bool exactflag, int moreflag=1) |
| void | switchMotorOff (short number) |
| void | switchMotorOn (short number) |
| void | switchRobotOff () |
| void | switchRobotOn () |
| void | unBlock () |
| unblock robot after a crash More... | |
| void | waitFor (TMotStsFlg status, int waitTimeout) |
| void | waitForMotor (short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000) |
| ~CKatana () | |
| Destructor. More... | |
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 |
Additional Inherited Members | |
| Protected Member Functions inherited from CKatana | |
| void | setTolerance (long idx, int enc_tolerance) |
| Sets the tolerance range in encoder units for the robots movements. More... | |
| Protected Attributes inherited from CKatana | |
| int | _gripperCloseEncoders |
| bool | _gripperIsPresent |
| int | _gripperOpenEncoders |
| CKatBase * | base |
| base katana More... | |
| int | mKatanaType |
| The type of KatanaXXX (300 or 400) More... | |
| int | mKinematics |
| The kinematics implementation: 0 for Analytical, 1 for RobAnaGuess. More... | |
Detailed Description
Linear movement Class.
This class allows to do linear movements with the Katana robot.
The documentation for this class was generated from the following files: