Public Member Functions | Private Member Functions | Private Attributes | List of all members
KinematicsLib Class Reference

Kinematics class using the kinematics lib. More...

#include <kinematics.h>

Public Member Functions

int directKinematics (std::vector< double > angles, std::vector< double > &pose)
 Calculates the direct kinematics. More...
 
int enc2rad (std::vector< int > encoders, std::vector< double > &angles)
 Converts encoders to angles. More...
 
int getAngMax (std::vector< double > &angleMax)
 Get angle max. More...
 
int getAngMin (std::vector< double > &angleMin)
 Get angle min. More...
 
int getAngOff (std::vector< double > &angleOffset)
 Get the angle offsets. More...
 
int getAngRan (std::vector< double > &angleRange)
 Get the angle range. More...
 
int getAngStop (std::vector< double > &angleStop)
 Get angle stop. More...
 
int getDOF ()
 Get the degree of freedom. More...
 
int getDOM ()
 Get the degree of mobility. More...
 
int getEncOff (std::vector< int > &encOffset)
 Get the encoder offsets. More...
 
int getEPC (std::vector< int > &epc)
 Get the encoders per cycle. More...
 
int getImmob ()
 Get the immobile flag of the last joint. More...
 
int getMaxDOF ()
 Get the maximum degree of freedom. More...
 
int getMDH (std::vector< double > &theta, std::vector< double > &d, std::vector< double > &a, std::vector< double > &alpha)
 Get the modified Denavit-Hartenberg parameters. More...
 
int getRotDir (std::vector< int > &rotDir)
 Get the rotation direction. More...
 
int getTcpOff (std::vector< double > &tcpOffset)
 Get the tcp offset. More...
 
int getType ()
 Get the robot type. More...
 
int getVersion (std::vector< int > &version)
 Get the version number of the library. More...
 
int init ()
 This initializes the kinematics. More...
 
int inverseKinematics (std::vector< double > pose, std::vector< double > prev, std::vector< double > &angles, int maxBisection=0)
 Calculates the inverse kinematics. More...
 
int K4D2mDHAng (std::vector< double > angleK4D, std::vector< double > &angleMDH)
 This converts angles from Katana4D to mDH convention. More...
 
 KinematicsLib ()
 Constructor. More...
 
 KinematicsLib (int type)
 Constructor with robot type 0 (6M90A_F), 1 (6M90A_G), 2 (K_6M180),. More...
 
int mDH2K4DAng (std::vector< double > angleMDH, std::vector< double > &angleK4D)
 This converts angles from mDH to Katana4D convention. More...
 
int rad2enc (std::vector< double > angles, std::vector< int > &encoders)
 Converts angles to encoders. More...
 
int setAngOff (std::vector< double > angleOffset)
 This sets the angle offsets. More...
 
int setAngRan (std::vector< double > angleRange)
 This sets the angle range. More...
 
int setEncOff (std::vector< int > encOffset)
 This sets the encoder offsets. More...
 
int setEPC (std::vector< int > epc)
 This sets the encoders per cycle. More...
 
int setImmob (int immobile)
 This sets the immobile flag of the last joint. More...
 
int setLinkLen (std::vector< double > links)
 This sets the link length parameters (part of mDH-parameters) More...
 
int setMDH (std::vector< double > theta, std::vector< double > d, std::vector< double > a, std::vector< double > alpha, int typeNr=-1)
 This sets the modified Denavit-Hartenberg parameters. More...
 
int setRotDir (std::vector< int > rotDir)
 This sets the rotation direction. More...
 
int setTcpOff (std::vector< double > tcpOffset)
 This sets the tcp offset. More...
 
int setType (int type)
 This sets the robot type. More...
 
 ~KinematicsLib ()
 Destructor. More...
 

Private Member Functions

int anaGuess (std::vector< double > pose, std::vector< double > prev, std::vector< double > &angle)
 
int angleArrMDH2vecK4D (const double arr[], std::vector< double > *vec)
 
bool checkConfig (std::vector< double > config, std::vector< double > pose, double tol=0.00001)
 
int initDofMat (int dof)
 
int initializeMembers ()
 
int invKin (std::vector< double > pose, std::vector< double > prev, std::vector< double > &angle)
 
int invKin_bisec (std::vector< double > pose, std::vector< double > prev, std::vector< double > &conf, int maxBisection)
 
int setAngleMinMax ()
 
int sign (int value)
 
int sign (double value)
 

Private Attributes

AnaGuess::Kinematics_anaGuess
 Analytical guess. More...
 
double _angleMax [MaxDof]
 Angle max. More...
 
double _angleMin [MaxDof]
 Angle min. More...
 
double _angleOffset [MaxDof]
 
double _angleRange [MaxDof]
 
bool _angOffInit
 Angle offset. More...
 
bool _angRanInit
 Angle range. More...
 
Matrix _data
 
int _dof
 Degree of freedom. More...
 
int _dom
 Degree of mobility. More...
 
int _encoderOffset [MaxDof]
 Encoder offset. More...
 
int _epc [MaxDof]
 Encoder per cycle. More...
 
int _immobile
 Last joint is immobile (eg. K_6M90A_G, K_6M90B_G), _dom = _dof - 1. More...
 
bool _initialized
 Kinematic initialized. More...
 
double _linkLength [4]
 Link length (for defined types) More...
 
bool _matrixInit
 Matrices for mDH, angle range and immobile data. More...
 
mRobot _robot
 Roboop robot class. More...
 
int _rotDir [MaxDof]
 Rotation direction. More...
 
double _tcpOffset [4]
 TCP offset. More...
 
double _thetaimmobile
 
int _type
 Robot Type. More...
 

Detailed Description

Kinematics class using the kinematics lib.

Definition at line 178 of file kinematics.h.

Constructor & Destructor Documentation

KinematicsLib::KinematicsLib ( )

Constructor.

Definition at line 11 of file kinematics.cpp.

KinematicsLib::KinematicsLib ( int  type)

Constructor with robot type 0 (6M90A_F), 1 (6M90A_G), 2 (K_6M180),.

Definition at line 15 of file kinematics.cpp.

KinematicsLib::~KinematicsLib ( )

Destructor.

Definition at line 21 of file kinematics.cpp.

Member Function Documentation

int KinematicsLib::anaGuess ( std::vector< double >  pose,
std::vector< double >  prev,
std::vector< double > &  angle 
)
private

Definition at line 975 of file kinematics.cpp.

int KinematicsLib::angleArrMDH2vecK4D ( const double  arr[],
std::vector< double > *  vec 
)
private

Definition at line 104 of file kinematics.cpp.

bool KinematicsLib::checkConfig ( std::vector< double >  config,
std::vector< double >  pose,
double  tol = 0.00001 
)
private

Definition at line 1024 of file kinematics.cpp.

int KinematicsLib::directKinematics ( std::vector< double >  angles,
std::vector< double > &  pose 
)

Calculates the direct kinematics.

Parameters
anglesrobot configuration (joint angles)
poseresulting pose of the TCP [x, y, z, phi, theta, psi]
Returns
1 if successful, -1 if failed

Definition at line 840 of file kinematics.cpp.

int KinematicsLib::enc2rad ( std::vector< int >  encoders,
std::vector< double > &  angles 
)

Converts encoders to angles.

Parameters
encodersencoder positions of joints
anglesresulting joint angles
Returns
1 if successful, -1 if failed

Definition at line 812 of file kinematics.cpp.

int KinematicsLib::getAngMax ( std::vector< double > &  angleMax)

Get angle max.

Parameters
angleMaxvector to write angle max
Returns
1 if successful, -1 if failed

Definition at line 697 of file kinematics.cpp.

int KinematicsLib::getAngMin ( std::vector< double > &  angleMin)

Get angle min.

Parameters
angleMinvector to write angle min
Returns
1 if successful, -1 if failed

Definition at line 684 of file kinematics.cpp.

int KinematicsLib::getAngOff ( std::vector< double > &  angleOffset)

Get the angle offsets.

Parameters
angleOffsetvector to write in angle values at calibration stops
Returns
1 if successful, -1 if failed

Definition at line 644 of file kinematics.cpp.

int KinematicsLib::getAngRan ( std::vector< double > &  angleRange)

Get the angle range.

Parameters
angleRangevector to write in angle range
Returns
1 if successful, -1 if failed

Definition at line 655 of file kinematics.cpp.

int KinematicsLib::getAngStop ( std::vector< double > &  angleStop)

Get angle stop.

Parameters
angleStopvector to write angle stop
Returns
1 if successful, -1 if failed

Definition at line 666 of file kinematics.cpp.

int KinematicsLib::getDOF ( )

Get the degree of freedom.

Get the degree of freedom

Returns
DOF (-1 if not set)

Definition at line 581 of file kinematics.cpp.

int KinematicsLib::getDOM ( )

Get the degree of mobility.

Get the degree of mobility

Returns
DOM (-1 if not set)

Definition at line 585 of file kinematics.cpp.

int KinematicsLib::getEncOff ( std::vector< int > &  encOffset)

Get the encoder offsets.

Parameters
encoderOffsetvector to write in encoder values at calibration stops
Returns
1 if successful, -1 if failed

Definition at line 622 of file kinematics.cpp.

int KinematicsLib::getEPC ( std::vector< int > &  epc)

Get the encoders per cycle.

Parameters
epcvector to write in encoders pec cycle
Returns
1 if successful, -1 if failed

Definition at line 611 of file kinematics.cpp.

int KinematicsLib::getImmob ( )

Get the immobile flag of the last joint.

Returns
immobile flag: 0 if mobile, 1 if immobile (-1 if not set)

Definition at line 607 of file kinematics.cpp.

int KinematicsLib::getMaxDOF ( )

Get the maximum degree of freedom.

Get the maximum degree of freedom (maximum size of the vectors)

Returns
maximum DOF

Definition at line 577 of file kinematics.cpp.

int KinematicsLib::getMDH ( std::vector< double > &  theta,
std::vector< double > &  d,
std::vector< double > &  a,
std::vector< double > &  alpha 
)

Get the modified Denavit-Hartenberg parameters.

Parameters
thetavector to write in angle about z-axis
dvector to write in distance along x-axis
avector to write in distance previous to current along previous x-axis
alphavector to write in angle about previous x-axis
Returns
1 if successful, -1 if failed

Definition at line 589 of file kinematics.cpp.

int KinematicsLib::getRotDir ( std::vector< int > &  rotDir)

Get the rotation direction.

Parameters
rotationDirectionvector to write in rotation direction of the joints
Returns
1 if successful, -1 if failed

Definition at line 633 of file kinematics.cpp.

int KinematicsLib::getTcpOff ( std::vector< double > &  tcpOffset)

Get the tcp offset.

Parameters
tcpOffsetvector to write in (x, y, z, psi) offset
Returns
1 if successful, -1 if failed

Definition at line 710 of file kinematics.cpp.

int KinematicsLib::getType ( )

Get the robot type.

Get the robot type

Returns
type: 0 for K_6M90A_F, 1 for K_6M90A_G, 2 for K_6M180, 3 for K_6M90B_F, 4 for K_6M90B_G, -1 for other or not set yet

Definition at line 573 of file kinematics.cpp.

int KinematicsLib::getVersion ( std::vector< int > &  version)

Get the version number of the library.

Parameters
versionvector to write in version (major, minor, revision)
Returns
1 if successful, -1 if failed

Definition at line 721 of file kinematics.cpp.

int KinematicsLib::init ( )

This initializes the kinematics.

Initialize the kinematics. Parameters mDH, dof, angle offset and angle range (SetType or SetMDH and SetAngleOffset and SetAngleRange) have to be set prior to initialization of the kinematics!

Returns
1 if successful, -1 if failed

Definition at line 730 of file kinematics.cpp.

int KinematicsLib::initDofMat ( int  dof)
private

Definition at line 95 of file kinematics.cpp.

int KinematicsLib::initializeMembers ( )
private

Definition at line 63 of file kinematics.cpp.

int KinematicsLib::inverseKinematics ( std::vector< double >  pose,
std::vector< double >  prev,
std::vector< double > &  angles,
int  maxBisection = 0 
)

Calculates the inverse kinematics.

Parameters
posepose of the TCP [x, y, z, phi, theta, psi]
prevprevious angles (starting configuration)
anglesresulting robot configuration (joint angles)
Returns
1 if successful, -1 if failed

Definition at line 1043 of file kinematics.cpp.

int KinematicsLib::invKin ( std::vector< double >  pose,
std::vector< double >  prev,
std::vector< double > &  angle 
)
private

Definition at line 897 of file kinematics.cpp.

int KinematicsLib::invKin_bisec ( std::vector< double >  pose,
std::vector< double >  prev,
std::vector< double > &  conf,
int  maxBisection 
)
private

Definition at line 940 of file kinematics.cpp.

int KinematicsLib::K4D2mDHAng ( std::vector< double >  angleK4D,
std::vector< double > &  angleMDH 
)

This converts angles from Katana4D to mDH convention.

Length of angleK4D needs to be equal to DOM set with Type or mDH parameters.

Parameters
angleK4Dangle in K4D convention
angleMDHangle in mDH convention
Returns
1 if successful, -1 if failed

Definition at line 740 of file kinematics.cpp.

int KinematicsLib::mDH2K4DAng ( std::vector< double >  angleMDH,
std::vector< double > &  angleK4D 
)

This converts angles from mDH to Katana4D convention.

Length of angleMDH needs to be equal to DOM set with Type or mDH parameters.

Parameters
angleMDHangle in mDH convention
angleK4Dangle in K4D convention
Returns
1 if successful, -1 if failed

Definition at line 776 of file kinematics.cpp.

int KinematicsLib::rad2enc ( std::vector< double >  angles,
std::vector< int > &  encoders 
)

Converts angles to encoders.

Parameters
anglesjoint angles
encodersresulting encoder positions of joints
Returns
1 if successful, -1 if failed

Definition at line 826 of file kinematics.cpp.

int KinematicsLib::setAngleMinMax ( )
private

Definition at line 78 of file kinematics.cpp.

int KinematicsLib::setAngOff ( std::vector< double >  angleOffset)

This sets the angle offsets.

The angles at the calibration stops in mDH convention! Length of angleOffset needs to be equal to DOM set with Type or mDH parameters.

Parameters
angleOffsetangle values at calibration stops in mDH
Returns
1 if successful, -1 if failed

Definition at line 450 of file kinematics.cpp.

int KinematicsLib::setAngRan ( std::vector< double >  angleRange)

This sets the angle range.

The angle range from angle offset to angle stop in mDH convention (negative if angleOffset > angleStop)! Length of angleRange needs to be equal to DOM set with Type or mDH parameters.

Parameters
angleRangeangle range from angle offset to angle stop
Returns
1 if successful, -1 if failed

Definition at line 510 of file kinematics.cpp.

int KinematicsLib::setEncOff ( std::vector< int >  encOffset)

This sets the encoder offsets.

The encoder values at the calibration stops. Length of encOffset needs to be equal to DOM set with Type or mDH parameters.

Parameters
encOffsetencoder values at calibration stops
Returns
1 if successful, -1 if failed

Definition at line 422 of file kinematics.cpp.

int KinematicsLib::setEPC ( std::vector< int >  epc)

This sets the encoders per cycle.

Number of encoders in a full cycle of each joint. Length of epc needs to be equal to DOM set with Type or mDH parameters.

Parameters
epcencoders pec cycle
Returns
1 if successful, -1 if failed

Definition at line 410 of file kinematics.cpp.

int KinematicsLib::setImmob ( int  immobile)

This sets the immobile flag of the last joint.

Flag for the last joint if it is free (0) or locked (1). Setting the immobile flag includes adjusting dom. Type or mDH parameters have to be set.

Parameters
immobilelast joint immobile flag: 0 for free, 1 for locked (immobile)
Returns
1 if successful, -1 if failed

Definition at line 393 of file kinematics.cpp.

int KinematicsLib::setLinkLen ( std::vector< double >  links)

This sets the link length parameters (part of mDH-parameters)

Setting link length parameters requires the type to be set to 0 (K_6M90A_F), 1 (K_6M90A_G), 2 (K_6M180), 3 (K_6M90B_F) or 4 (K_6M90B_G). This is done using the setType or setModifiedDH function that set the mDH parameters so they can be adjusted. The length of the vector has to be four.

Parameters
linkslength of the links in m
Returns
1 if successful, -1 if failed

Definition at line 355 of file kinematics.cpp.

int KinematicsLib::setMDH ( std::vector< double >  theta,
std::vector< double >  d,
std::vector< double >  a,
std::vector< double >  alpha,
int  typeNr = -1 
)

This sets the modified Denavit-Hartenberg parameters.

Transformation from previous to current link: move a along (previous) x-axis, rotate alpha about (previous) x-axis, move d along (current) z-axis, rotate theta about (current) z-axis. Setting the mDH parameters includes setting dof, adjusting immobile flag (all free) and dom (= dof).

The length of the vectors need to be the same.

Parameters
thetaangle about z-axis
ddistance along x-axis
adistance previous to current along previous x-axis
alphaangle about previous x-axis
typeNr0: K_6M90A_F, 1: K_6M90A_G, 2: K_6M180, 3: K_6M90B_F, 4: K_6M90B_G, -1 for other
Returns
1 if successful, -1 if failed

Definition at line 323 of file kinematics.cpp.

int KinematicsLib::setRotDir ( std::vector< int >  rotDir)

This sets the rotation direction.

The rotation direction of the joints: +1 if encoders and angles (mDH convention) grow in same direction, -1 if encoders and angles grow in opposit direction. Length of rotDir needs to be equal to DOM set with Type or mDH parameters.

Parameters
rotDirrotation direction of the joints
Returns
1 if successful, -1 if failed

Definition at line 434 of file kinematics.cpp.

int KinematicsLib::setTcpOff ( std::vector< double >  tcpOffset)

This sets the tcp offset.

Offset from the flange to the effective tcp.

Parameters
tcpOffset(x, y, z, psi) offset in m and rad respectively where psi is rotation about x-axis of tool coordinate system
Returns
1 if successful, -1 if failed

Definition at line 561 of file kinematics.cpp.

int KinematicsLib::setType ( int  type)

This sets the robot type.

Setting robot type includes setting mDH parameters, immobile flag, degree of freedom (dof), degree of mobility (dom) and angles.

type dof dom K_6M90A_F 6 6 K_6M90A_G 6 5 K_6M180 5 5 K_6M90B_F 6 6 K_6M90B_G 6 5

Parameters
type0: K_6M90A_F, 1: K_6M90A_G, 2: K_6M180, 3: K_6M90B_F, 4: K_6M90B_G
Returns
1 if successful, -1 if failed

Definition at line 118 of file kinematics.cpp.

int KinematicsLib::sign ( int  value)
private

Definition at line 27 of file kinematics.cpp.

int KinematicsLib::sign ( double  value)
private

Definition at line 30 of file kinematics.cpp.

Member Data Documentation

AnaGuess::Kinematics* KinematicsLib::_anaGuess
private

Analytical guess.

Definition at line 216 of file kinematics.h.

double KinematicsLib::_angleMax[MaxDof]
private

Angle max.

Definition at line 207 of file kinematics.h.

double KinematicsLib::_angleMin[MaxDof]
private

Angle min.

Definition at line 205 of file kinematics.h.

double KinematicsLib::_angleOffset[MaxDof]
private

Definition at line 200 of file kinematics.h.

double KinematicsLib::_angleRange[MaxDof]
private

Definition at line 203 of file kinematics.h.

bool KinematicsLib::_angOffInit
private

Angle offset.

Definition at line 199 of file kinematics.h.

bool KinematicsLib::_angRanInit
private

Angle range.

Definition at line 202 of file kinematics.h.

Matrix KinematicsLib::_data
private

Definition at line 187 of file kinematics.h.

int KinematicsLib::_dof
private

Degree of freedom.

Definition at line 189 of file kinematics.h.

int KinematicsLib::_dom
private

Degree of mobility.

Definition at line 191 of file kinematics.h.

int KinematicsLib::_encoderOffset[MaxDof]
private

Encoder offset.

Definition at line 195 of file kinematics.h.

int KinematicsLib::_epc[MaxDof]
private

Encoder per cycle.

Definition at line 193 of file kinematics.h.

int KinematicsLib::_immobile
private

Last joint is immobile (eg. K_6M90A_G, K_6M90B_G), _dom = _dof - 1.

Definition at line 213 of file kinematics.h.

bool KinematicsLib::_initialized
private

Kinematic initialized.

Definition at line 218 of file kinematics.h.

double KinematicsLib::_linkLength[4]
private

Link length (for defined types)

Definition at line 209 of file kinematics.h.

bool KinematicsLib::_matrixInit
private

Matrices for mDH, angle range and immobile data.

Definition at line 186 of file kinematics.h.

mRobot KinematicsLib::_robot
private

Roboop robot class.

Definition at line 211 of file kinematics.h.

int KinematicsLib::_rotDir[MaxDof]
private

Rotation direction.

Definition at line 197 of file kinematics.h.

double KinematicsLib::_tcpOffset[4]
private

TCP offset.

Definition at line 220 of file kinematics.h.

double KinematicsLib::_thetaimmobile
private

Definition at line 214 of file kinematics.h.

int KinematicsLib::_type
private

Robot Type.

Definition at line 184 of file kinematics.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