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Public Member Functions | Private Member Functions | Private Attributes
katana::KNIConverter Class Reference

#include <KNIConverter.h>

List of all members.

Public Member Functions

double acc_enc2rad (int index, short encoders)
double acc_rad2enc (int index, double acc)
double angle_enc2rad (int index, int encoders)
double angle_rad2enc (int index, double angle)
double jerk_enc2rad (int index, short encoders)
double jerk_rad2enc (int index, double jerk)
 KNIConverter (std::string config_file_path)
double vel_enc2rad (int index, short encoders)
double vel_rad2enc (int index, double vel)
virtual ~KNIConverter ()

Private Member Functions

double deg2rad (const double deg)
double vel_acc_jerk_enc2rad (int index, short encoders)
double vel_acc_jerk_rad2enc (int index, double vel_acc_jerk)

Private Attributes

KNI::kmlFactory config_

Detailed Description

Definition at line 36 of file KNIConverter.h.


Constructor & Destructor Documentation

katana::KNIConverter::KNIConverter ( std::string  config_file_path)

Definition at line 30 of file KNIConverter.cpp.

Definition at line 38 of file KNIConverter.cpp.


Member Function Documentation

double katana::KNIConverter::acc_enc2rad ( int  index,
short  encoders 
)

Definition at line 128 of file KNIConverter.cpp.

double katana::KNIConverter::acc_rad2enc ( int  index,
double  acc 
)

Definition at line 113 of file KNIConverter.cpp.

double katana::KNIConverter::angle_enc2rad ( int  index,
int  encoders 
)

Definition at line 76 of file KNIConverter.cpp.

double katana::KNIConverter::angle_rad2enc ( int  index,
double  angle 
)

Theoretically, all *_rad2enc functions should return integers (because encoder values are integer). However, because velocities, accelerations and jerks are divided by 100/100^2/100^3, they would return 0 most of the time. Therefore, return the values as double.

Definition at line 47 of file KNIConverter.cpp.

double katana::KNIConverter::deg2rad ( const double  deg) [private]

Definition at line 162 of file KNIConverter.cpp.

double katana::KNIConverter::jerk_enc2rad ( int  index,
short  encoders 
)

Definition at line 133 of file KNIConverter.cpp.

double katana::KNIConverter::jerk_rad2enc ( int  index,
double  jerk 
)

Definition at line 118 of file KNIConverter.cpp.

double katana::KNIConverter::vel_acc_jerk_enc2rad ( int  index,
short  encoders 
) [private]

Definition at line 148 of file KNIConverter.cpp.

double katana::KNIConverter::vel_acc_jerk_rad2enc ( int  index,
double  vel_acc_jerk 
) [private]

Definition at line 138 of file KNIConverter.cpp.

double katana::KNIConverter::vel_enc2rad ( int  index,
short  encoders 
)

Definition at line 123 of file KNIConverter.cpp.

double katana::KNIConverter::vel_rad2enc ( int  index,
double  vel 
)

Conversions for velocity, acceleration and jerk (first derivative of acceleration). Basically the same as for angle, but without the offsets.

Definition at line 108 of file KNIConverter.cpp.


Member Data Documentation

Definition at line 54 of file KNIConverter.h.


The documentation for this class was generated from the following files:
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katana
Author(s): Martin Günther
autogenerated on Tue May 28 2013 14:54:06