KNI::KatanaKinematics Class Reference

The base class for all kinematic implementations. More...

#include <KatanaKinematics.h>

Inheritance diagram for KNI::KatanaKinematics:

Public Types
typedef std::vector< double >	angles
	Being used to store angles (in radian). More...
typedef std::vector< double >	coordinates
	To store coordinates. More...
typedef std::vector< int >	encoders
	To store encoders. More...
typedef std::vector< double >	metrics
	To store metrics, 'aka' the length's of the different segments of the robot. More...
typedef std::vector< KinematicParameters >	parameter_container

Public Member Functions
virtual void	DK (coordinates &solution, encoders const &current_encoders) const =0
virtual void	IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0
virtual void	init (metrics const &length, parameter_container const &parameters)=0
virtual	~KatanaKinematics ()

Detailed Description

The base class for all kinematic implementations.

Definition at line 63 of file KatanaKinematics.h.

Member Typedef Documentation

typedef std::vector<double> KNI::KatanaKinematics::angles

Being used to store angles (in radian).

Definition at line 71 of file KatanaKinematics.h.

typedef std::vector<double> KNI::KatanaKinematics::coordinates

To store coordinates.

Definition at line 74 of file KatanaKinematics.h.

typedef std::vector<int> KNI::KatanaKinematics::encoders

To store encoders.

Definition at line 80 of file KatanaKinematics.h.

typedef std::vector<double> KNI::KatanaKinematics::metrics

To store metrics, 'aka' the length's of the different segments of the robot.

Definition at line 77 of file KatanaKinematics.h.

typedef std::vector<KinematicParameters> KNI::KatanaKinematics::parameter_container

Definition at line 67 of file KatanaKinematics.h.

Constructor & Destructor Documentation

virtual KNI::KatanaKinematics::~KatanaKinematics ( )

inlinevirtual

Definition at line 65 of file KatanaKinematics.h.

Member Function Documentation

virtual void KNI::KatanaKinematics::DK ( coordinates &  solution, encoders const &  current_encoders  ) const

pure virtual

Direct Kinematic. Calculates the actual position in cartesian coordinates using the given encoders

Parameters

solution	This is where the algorithm will store the solution to (in cartesian coordinates)
current_encoders	The encoder values which are being used for the calculation

Note

strong guarantee provided

Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.

virtual void KNI::KatanaKinematics::IK ( encoders::iterator  solution, coordinates const &  pose, encoders const &  cur_angles  ) const

pure virtual

Inverse Kinematic. Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.

Parameters

solution	This is where the algorithm will store the solution to (in encoders)
pose	The target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_angles	The current angles (in encoders) of the robot

Note

strong guarantee provided

Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.

virtual void KNI::KatanaKinematics::init ( metrics const &  length, parameter_container const &  parameters  )

pure virtual

Initialize the parameters for the calculations. This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type

Implemented in KNI::KatanaKinematics6M180, KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.

---

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

• KatanaKinematics.h