#include <KatanaKinematics6M90T.h>

Inheritance diagram for KNI::KatanaKinematics6M90T:

Classes
struct	angles_calc

struct	position

Public Member Functions
void	DK (coordinates &solution, encoders const &current_encoders) const

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

void	init (metrics const &length, parameter_container const &parameters)

Public Member Functions inherited from KNI::KatanaKinematics
virtual	~KatanaKinematics ()

Private Types
typedef std::vector< angles_calc >	angles_container

Private Member Functions
void	_setLength (metrics const &length)

void	_setParameters (parameter_container const &parameters)

bool	angledef (angles_calc &a) const

bool	AnglePositionTest (const angles_calc &a) const

double	findFirstEqualAngle (const angles &v1, const angles &v2) const

bool	GripperTest (const position &p_gr, const angles_calc &angle) const

void	IK_b1b2costh3_6MS (angles_calc &a, const position &p) const

void	IK_theta234theta5 (angles_calc &angle, const position &p_gr) const

bool	PositionTest6MS (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const

void	thetacomp (angles_calc &a, const position &p_m, const coordinates &pose) const

Private Attributes
metrics	_length

parameter_container	_parameters

Static Private Attributes
static const int	_nrOfPossibleSolutions = 8

static const double	_tolerance = 0.001

Additional Inherited Members
Public Types inherited from KNI::KatanaKinematics
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

Detailed Description

Author: Tiziano Mueller tizia.nosp@m.no.m.nosp@m.uelle.nosp@m.r@ne.nosp@m.uroni.nosp@m.cs.c.nosp@m.h; Christoph Voser chris.nosp@m.toph.nosp@m..vose.nosp@m.r@ne.nosp@m.uroni.nosp@m.cs.c.nosp@m.h

Definition at line 39 of file KatanaKinematics6M90T.h.

Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics6M90T::angles_container

private

Definition at line 71 of file KatanaKinematics6M90T.h.

Member Function Documentation

void KNI::KatanaKinematics6M90T::_setLength ( metrics const & length )

inlineprivate

Definition at line 79 of file KatanaKinematics6M90T.h.

void KNI::KatanaKinematics6M90T::_setParameters ( parameter_container const & parameters )

inlineprivate

Definition at line 80 of file KatanaKinematics6M90T.h.

bool KNI::KatanaKinematics6M90T::angledef ( angles_calc & a ) const

private

Definition at line 344 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::AnglePositionTest ( const angles_calc & a ) const

private

Definition at line 374 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::DK	(	coordinates &	solution,
		encoders const &	current_encoders
	)		const

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

Implements KNI::KatanaKinematics.

Definition at line 31 of file KatanaKinematics6M90T.cpp.

double KNI::KatanaKinematics6M90T::findFirstEqualAngle	(	const angles &	v1,
		const angles &	v2
	)		const

private

Definition at line 216 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::GripperTest	(	const position &	p_gr,
		const angles_calc &	angle
	)		const

private

Definition at line 184 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::IK	(	encoders::iterator	solution,
		coordinates const &	pose,
		encoders const &	cur_angles
	)		const

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

Implements KNI::KatanaKinematics.

Definition at line 404 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::IK_b1b2costh3_6MS	(	angles_calc &	a,
		const position &	p
	)		const

private

Definition at line 199 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::IK_theta234theta5	(	angles_calc &	angle,
		const position &	p_gr
	)		const

private

Definition at line 140 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::init	(	metrics const &	length,
		parameter_container const &	parameters
	)

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

Implements KNI::KatanaKinematics.

Definition at line 131 of file KatanaKinematics6M90T.cpp.

bool KNI::KatanaKinematics6M90T::PositionTest6MS	(	const double &	theta1,
		const double &	theta2,
		const double &	theta3,
		const double &	theta234,
		const position &	p
	)		const

private

Definition at line 328 of file KatanaKinematics6M90T.cpp.

void KNI::KatanaKinematics6M90T::thetacomp	(	angles_calc &	a,
		const position &	p_m,
		const coordinates &	pose
	)		const

private

Definition at line 230 of file KatanaKinematics6M90T.cpp.

Member Data Documentation

metrics KNI::KatanaKinematics6M90T::_length

private

Definition at line 73 of file KatanaKinematics6M90T.h.

const int KNI::KatanaKinematics6M90T::_nrOfPossibleSolutions = 8

staticprivate

Definition at line 77 of file KatanaKinematics6M90T.h.

parameter_container KNI::KatanaKinematics6M90T::_parameters

private

Definition at line 74 of file KatanaKinematics6M90T.h.

const double KNI::KatanaKinematics6M90T::_tolerance = 0.001

staticprivate

Definition at line 76 of file KatanaKinematics6M90T.h.

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

Classes

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Static Private Attributes

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Member Function Documentation

Member Data Documentation