AnaGuess::Kinematics Class Reference

Base Class for the kinematics implementations. More...

#include <kinematics.h>

Inheritance diagram for AnaGuess::Kinematics:

Public Member Functions
virtual bool	directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles)=0
virtual bool	enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders)=0
virtual std::vector< double >	getAngMax ()=0
	get angle max
virtual std::vector< double >	getAngMin ()=0
	get angle min
virtual std::vector< double >	getAngOff ()=0
	get angle offset
virtual std::vector< double >	getAngRange ()=0
	get angle range
virtual std::vector< double >	getAngStop ()=0
	get angle stop
virtual std::vector< int >	getDir ()=0
	get direction
virtual std::vector< int >	getEncOff ()=0
	get encoder offset
virtual std::vector< int >	getEpc ()=0
	get encoders per cycle
virtual std::vector< double >	getLinkLength ()=0
	get link length
virtual bool	inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles)=0
virtual bool	rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles)=0
virtual bool	setAngOff (const std::vector< double > aAngOff)=0
	set angle offset
virtual bool	setAngStop (const std::vector< double > aAngStop)=0
	set angle stop
virtual bool	setLinkLength (const std::vector< double > aLengths)=0
	set link length
virtual	~Kinematics ()
	Virtual destructor.
Private Member Functions
virtual bool	initialize ()=0
	initializes the kinematic
Private Attributes
std::vector< double >	mAngleOffset
	Angle offset vector [rad].
std::vector< double >	mAngleStop
	Angle stop vector [rad].
std::vector< int >	mEncoderOffset
	Encoder offset vector.
std::vector< int >	mEncodersPerCycle
	Encoders per cycle vector.
int	mNumberOfMotors
	Number of motors of the robot.
int	mNumberOfSegments
	Number of segments of the robot.
std::vector< int >	mRotationDirection
	Rotation direction vector [1\|-1].
std::vector< double >	mSegmentLength
	Effector segment lengths vector [m].

Detailed Description

Base Class for the kinematics implementations.

This class is pure virtual. The different robot kinematics implement this interface

Definition at line 41 of file AnalyticalGuess/include/kinematics.h.

Constructor & Destructor Documentation

virtual AnaGuess::Kinematics::~Kinematics ( ) [inline, virtual]

Virtual destructor.

Definition at line 66 of file AnalyticalGuess/include/kinematics.h.

Member Function Documentation

virtual bool AnaGuess::Kinematics::directKinematics	(	std::vector< double > &	aPosition,
		const std::vector< double >	aAngles
	)			`[pure virtual]`

calculates the direct kinematics

Parameters:

	aPosition	empty vector to store the position
	aAngles	the angle vector

Returns:: true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual bool AnaGuess::Kinematics::enc2rad	(	std::vector< double > &	aAngles,
		const std::vector< int >	aEncoders
	)			`[pure virtual]`

calculates the angles corresponding to the given encoders

Parameters:

	aAngles	empty vector to store the angles
	aEncoders	the encoder vector

Returns:: true if no error occurred, false on error

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getAngMax ( ) [pure virtual]

get angle max

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getAngMin ( ) [pure virtual]

get angle min

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getAngOff ( ) [pure virtual]

get angle offset

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getAngRange ( ) [pure virtual]

get angle range

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getAngStop ( ) [pure virtual]

get angle stop

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<int> AnaGuess::Kinematics::getDir ( ) [pure virtual]

get direction

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<int> AnaGuess::Kinematics::getEncOff ( ) [pure virtual]

get encoder offset

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<int> AnaGuess::Kinematics::getEpc ( ) [pure virtual]

get encoders per cycle

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual std::vector<double> AnaGuess::Kinematics::getLinkLength ( ) [pure virtual]

get link length

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual bool AnaGuess::Kinematics::initialize ( ) [private, pure virtual]

initializes the kinematic

Implemented in AnaGuess::Kinematics6M180, AnaGuess::Kinematics6M90G, and AnaGuess::Kinematics6M90T.

virtual bool AnaGuess::Kinematics::inverseKinematics	(	std::vector< double > &	aAngles,
		const std::vector< double >	aPosition,
		const std::vector< double >	aStartingAngles
	)			`[pure virtual]`