Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
KNI::KatanaKinematics6M90T Class Reference

#include <KatanaKinematics6M90T.h>

Inheritance diagram for KNI::KatanaKinematics6M90T:
Inheritance graph
[legend]

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_calcangles_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< KinematicParametersparameter_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

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
solutionThis is where the algorithm will store the solution to (in cartesian coordinates)
current_encodersThe 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
solutionThis is where the algorithm will store the solution to (in encoders)
poseThe target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_anglesThe 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:


kni
Author(s): Martin Günther
autogenerated on Fri Jun 7 2019 22:06:46