#include <ikBase.h>

Inheritance diagram for CikBase:

Public Member Functions
	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
void	_initKinematics ()

Private Attributes
std::unique_ptr< KNI::KatanaKinematics >	_kinematicsImpl

bool	_kinematicsIsInitialized

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

Definition at line 49 of file ikBase.h.

Constructor & Destructor Documentation

CikBase::CikBase ( )

inline

Definition at line 58 of file ikBase.h.

CikBase::~CikBase ( )

Definition at line 25 of file ikBase.cpp.

Member Function Documentation

void CikBase::_initKinematics ( )

private

Definition at line 35 of file ikBase.cpp.

void CikBase::DKApos ( double * position )

Returns the current position of the robot in cartesian coordinates.

Note: This method is deprecated, please use getCoordinates(...) instead

Definition at line 196 of file ikBase.cpp.

void CikBase::getCoordinates	(	double &	x,
		double &	y,
		double &	z,
		double &	phi,
		double &	theta,
		double &	psi,
		bool	refreshEncoders = `true`
	)

Returns the current position of the robot in cartesian coordinates.

Parameters

refreshEncoders With this parameter you can determine if the method reads the actual encoders from the robot or if it will use the cached ones

Note: This function returns a tuple in python

Definition at line 349 of file ikBase.cpp.

void CikBase::getCoordinatesFromEncoders	(	std::vector< double > &	pose,
		const std::vector< int > &	encs
	)

Returns the position of the robot corresponting to the given encoders in cartesian coordinates.

Definition at line 399 of file ikBase.cpp.

void CikBase::getKinematicsVersion ( std::vector< int > & version )

Returns the version number of the kinematics used.

Parameters

version vector to write in version (major, minor, revision)

Note: integrated analytical kinematics returns version 0.1.0; kinematics library returns versions >= 1.0.0

Definition at line 161 of file ikBase.cpp.

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter
	)

Calculates a set of encoders for the given coordinates. This method reads the current encoders from the robot and involves therefore also communication to the robot

Definition at line 200 of file ikBase.cpp.

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter,
		const std::vector< int > &	actualPosition
	)

Calculates a set of encoders for the given coordinates. For this method you have to pass an actualPosition too. No communication with the robot will be done here.

Definition at line 266 of file ikBase.cpp.

void CikBase::IKGoto	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		bool	wait = `false`,
		int	tolerance = `100`,
		long	timeout = `TM_ENDLESS`
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note: This method is deprecated, please use moveRobotTo(...) instead

Definition at line 327 of file ikBase.cpp.

void CikBase::moveRobotTo	(	double	x,
		double	y,
		double	z,
		double	phi,
		double	theta,
		double	psi,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `TM_ENDLESS`
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note: Instead of a given tolerance, a default tolerance is being used

Definition at line 429 of file ikBase.cpp.

void CikBase::moveRobotTo	(	std::vector< double >	coordinates,
		bool	waitUntilReached = `false`,
		int	waitTimeout = `TM_ENDLESS`
	)

This method does the same as the one above and is mainly provided for convenience

Note: You can call this function in python using tuples: Example: katana.moveRobotTo( (x,y,z,phi,theta,psi) ); If the size of the container is smaller than 6, it will throw an exception

Definition at line 433 of file ikBase.cpp.

void CikBase::setTcpOffset	(	double	xoff,
		double	yoff,
		double	zoff,
		double	psioff
	)

Set the offset from the flange to the desired tcp

Parameters

xoff	offset in x direction of flange coordinate system in m
yoff	offset in y direction of flange coordinate system in m
zoff	offset in z direction of flange coordinate system in m
psioff	angle offset around x-axis of flange coordinate system in rad

Definition at line 180 of file ikBase.cpp.

Member Data Documentation

std::unique_ptr<KNI::KatanaKinematics> CikBase::_kinematicsImpl

private

Definition at line 52 of file ikBase.h.

bool CikBase::_kinematicsIsInitialized

private

Definition at line 53 of file ikBase.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation