kni: kni: ikBase.h Source File

00001 /*
00002  *   Katana Native Interface - A C++ interface to the robot arm Katana.
00003  *   Copyright (C) 2005 Neuronics AG
00004  *   Check out the AUTHORS file for detailed contact information.
00005  *
00006  *   This program is free software; you can redistribute it and/or modify
00007  *   it under the terms of the GNU General Public License as published by
00008  *   the Free Software Foundation; either version 2 of the License, or
00009  *   (at your option) any later version.
00010  *
00011  *   This program is distributed in the hope that it will be useful,
00012  *   but WITHOUT ANY WARRANTY; without even the implied warranty of
00013  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014  *   GNU General Public License for more details.
00015  *
00016  *   You should have received a copy of the GNU General Public License
00017  *   along with this program; if not, write to the Free Software
00018  *   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00019  */
00020 
00021 /******************************************************************************************************************/
00022 #ifndef _IKBASE_H_
00023 #define _IKBASE_H_
00024 /******************************************************************************************************************/
00025 
00026 #include "common/exception.h"
00027 #include "common/dllexport.h"
00028 
00029 #include "KNI/kmlExt.h"
00030 #include "KNI/kmlCommon.h"
00031 
00032 #include "KNI_InvKin/KatanaKinematics.h"
00033 #include "KNI_InvKin/KatanaKinematics6M90G.h"
00034 #include "KNI_InvKin/KatanaKinematics6M90T.h"
00035 #include "KNI_InvKin/KatanaKinematics6M180.h"
00036 #include "KNI_InvKin/KatanaKinematics5M180.h"
00037 
00038 #include <vector>
00039 #include <memory>
00040 #include <cmath>
00041 
00042 /******************************************************************************************************************/
00043 
00044 #ifndef TM_ENDLESS
00045 #define TM_ENDLESS -1    //!< timeout symbol for 'endless' waiting
00046 #endif
00047 
00048 
00049 class DLLDIR_IK CikBase : public CKatana {
00050 
00051  private:
00052         std::auto_ptr<KNI::KatanaKinematics> _kinematicsImpl;
00053         bool _kinematicsIsInitialized;
00054         void _initKinematics();
00055 
00056  public:
00057 
00058     CikBase() : _kinematicsIsInitialized(false) {  };
00059     ~CikBase();
00060 
00065     void getKinematicsVersion(std::vector<int>& version);
00066 
00072     void setTcpOffset(double xoff, double yoff, double zoff, double psioff);
00073 
00076     void DKApos(double* position);
00077 
00082     void getCoordinates(double& x, double& y, double& z, double& phi, double& theta, double& psi, bool refreshEncoders = true);
00083     
00085     void getCoordinatesFromEncoders(std::vector<double>& pose, const std::vector<int>& encs);
00086 
00090     void IKCalculate(double X, 
00091                        double Y, 
00092                        double Z, 
00093                        double Al, 
00094                        double Be, 
00095                        double Ga,
00096                        std::vector<int>::iterator solution_iter);
00097 
00101     void IKCalculate(double X, 
00102                        double Y, 
00103                        double Z, 
00104                        double Al, 
00105                        double Be, 
00106                        double Ga,
00107                        std::vector<int>::iterator solution_iter,
00108                        const std::vector<int>& actualPosition );
00109 
00112     void IKGoto(double X, 
00113                   double Y, 
00114                   double Z, 
00115                   double Al, 
00116                   double Be, 
00117                   double Ga, 
00118                   bool wait = false, 
00119                   int tolerance = 100,
00120                   long timeout = TM_ENDLESS);   
00121 
00124     void moveRobotTo(double x, 
00125                   double y, 
00126                   double z, 
00127                   double phi, 
00128                   double theta, 
00129                   double psi,
00130                   bool waitUntilReached = false, int waitTimeout = TM_ENDLESS);
00131 
00136     void moveRobotTo( std::vector<double> coordinates, bool waitUntilReached = false, int waitTimeout = TM_ENDLESS);
00137 
00138 };
00139 
00140 /******************************************************************************************************************/
00141 #endif //_IKBASE_H_
00142 /******************************************************************************************************************/