Implements the kinematics for the Katana6M90G. More...
#include <kinematics6M90G.h>
Classes | |
| struct | angles_calc |
| struct | position |
| structs, type and constants used in inverse kinematics calculation More... | |
Public Member Functions | |
| bool | directKinematics (std::vector< double > &aPosition, const std::vector< double > aAngles) |
| bool | enc2rad (std::vector< double > &aAngles, const std::vector< int > aEncoders) |
| std::vector< double > | getAngMax () |
| get angle max | |
| std::vector< double > | getAngMin () |
| get angle min | |
| std::vector< double > | getAngOff () |
| get angle offset | |
| std::vector< double > | getAngRange () |
| get angle range | |
| std::vector< double > | getAngStop () |
| get angle stop | |
| std::vector< int > | getDir () |
| get direction | |
| std::vector< int > | getEncOff () |
| get encoder offset | |
| std::vector< int > | getEpc () |
| get encoders per cycle | |
| std::vector< double > | getLinkLength () |
| get link length | |
| bool | inverseKinematics (std::vector< double > &aAngles, const std::vector< double > aPosition, const std::vector< double > aStartingAngles) |
| Kinematics6M90G () | |
| Constructor. | |
| bool | rad2enc (std::vector< int > &aEncoders, const std::vector< double > aAngles) |
| bool | setAngOff (const std::vector< double > aAngOff) |
| set angle offset | |
| bool | setAngStop (const std::vector< double > aAngStop) |
| set angle offset | |
| bool | setLinkLength (const std::vector< double > aLengths) |
| set link length | |
| ~Kinematics6M90G () | |
| Destructor. | |
Private Types | |
| typedef std::vector< angles_calc > | angles_container |
Private Member Functions | |
| bool | angledef (angles_calc &a) const |
| bool | AnglePositionTest (const angles_calc &a) const |
| bool | GripperTest (const position &p_gr, const angles_calc &angle) const |
| void | IK_b1b2costh3_6MS (angles_calc &angle, const position &p) const |
| void | IK_theta234theta5 (angles_calc &angle, const position &p_gr) const |
| helper functions | |
| bool | initialize () |
| initialization routine | |
| bool | PositionTest6MS (const angles_calc &a, const position &p) const |
| void | thetacomp (angles_calc &angle, const position &p_m) const |
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. | |
| bool | mIsInitialized |
| Initialized flag. | |
| 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]. | |
Static Private Attributes | |
| static const int | cNrOfPossibleSolutions = 8 |
Implements the kinematics for the Katana6M90G.
This class implemets the abstract kinematics interface for the Katana6M90G
Definition at line 30 of file kinematics6M90G.h.
typedef std::vector<angles_calc> AnaGuess::Kinematics6M90G::angles_container [private] |
Definition at line 68 of file kinematics6M90G.h.
Constructor.
Definition at line 11 of file kinematics6M90G.cpp.
Destructor.
Definition at line 15 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::angledef | ( | angles_calc & | a | ) | const [private] |
Definition at line 512 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::AnglePositionTest | ( | const angles_calc & | a | ) | const [private] |
Definition at line 533 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::directKinematics | ( | std::vector< double > & | aPosition, |
| const std::vector< double > | aAngles | ||
| ) | [virtual] |
calculates the direct kinematics
| aPosition | empty vector to store the position |
| aAngles | the angle vector |
Implements AnaGuess::Kinematics.
Definition at line 141 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::enc2rad | ( | std::vector< double > & | aAngles, |
| const std::vector< int > | aEncoders | ||
| ) | [virtual] |
calculates the angles corresponding to the given encoders
| aAngles | empty vector to store the angles |
| aEncoders | the encoder vector |
Implements AnaGuess::Kinematics.
Definition at line 126 of file kinematics6M90G.cpp.
| std::vector< double > AnaGuess::Kinematics6M90G::getAngMax | ( | ) | [virtual] |
| std::vector< double > AnaGuess::Kinematics6M90G::getAngMin | ( | ) | [virtual] |
| std::vector< double > AnaGuess::Kinematics6M90G::getAngOff | ( | ) | [virtual] |
get angle offset
Implements AnaGuess::Kinematics.
Definition at line 40 of file kinematics6M90G.cpp.
| std::vector< double > AnaGuess::Kinematics6M90G::getAngRange | ( | ) | [virtual] |
| std::vector< double > AnaGuess::Kinematics6M90G::getAngStop | ( | ) | [virtual] |
| std::vector< int > AnaGuess::Kinematics6M90G::getDir | ( | ) | [virtual] |
| std::vector< int > AnaGuess::Kinematics6M90G::getEncOff | ( | ) | [virtual] |
get encoder offset
Implements AnaGuess::Kinematics.
Definition at line 30 of file kinematics6M90G.cpp.
| std::vector< int > AnaGuess::Kinematics6M90G::getEpc | ( | ) | [virtual] |
get encoders per cycle
Implements AnaGuess::Kinematics.
Definition at line 25 of file kinematics6M90G.cpp.
| std::vector< double > AnaGuess::Kinematics6M90G::getLinkLength | ( | ) | [virtual] |
| bool AnaGuess::Kinematics6M90G::GripperTest | ( | const position & | p_gr, |
| const angles_calc & | angle | ||
| ) | const [private] |
Definition at line 460 of file kinematics6M90G.cpp.
| void AnaGuess::Kinematics6M90G::IK_b1b2costh3_6MS | ( | angles_calc & | angle, |
| const position & | p | ||
| ) | const [private] |
Definition at line 473 of file kinematics6M90G.cpp.
| void AnaGuess::Kinematics6M90G::IK_theta234theta5 | ( | angles_calc & | angle, |
| const position & | p_gr | ||
| ) | const [private] |
helper functions
Definition at line 418 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::initialize | ( | ) | [private, virtual] |
initialization routine
Implements AnaGuess::Kinematics.
Definition at line 361 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::inverseKinematics | ( | std::vector< double > & | aAngles, |
| const std::vector< double > | aPosition, | ||
| const std::vector< double > | aStartingAngles | ||
| ) | [virtual] |
caltulates the inverse kinematics
| aAngles | empty vector to store the angles |
| aPosition | the position vector |
| aStartingAngles | starting angle vector to find the best (nearest) solution |
| NoSolutionException | if no solutios exists |
Implements AnaGuess::Kinematics.
Definition at line 223 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::PositionTest6MS | ( | const angles_calc & | a, |
| const position & | p | ||
| ) | const [private] |
Definition at line 498 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::rad2enc | ( | std::vector< int > & | aEncoders, |
| const std::vector< double > | aAngles | ||
| ) | [virtual] |
calculates the encoders corresponding to the given angles
| aEncoders | empty vector to store the encoders |
| aAngles | the angle vector |
Implements AnaGuess::Kinematics.
Definition at line 133 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::setAngOff | ( | const std::vector< double > | aAngOff | ) | [virtual] |
set angle offset
Implements AnaGuess::Kinematics.
Definition at line 101 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::setAngStop | ( | const std::vector< double > | aAngStop | ) | [virtual] |
set angle offset
set angle stop
Implements AnaGuess::Kinematics.
Definition at line 113 of file kinematics6M90G.cpp.
| bool AnaGuess::Kinematics6M90G::setLinkLength | ( | const std::vector< double > | aLengths | ) | [virtual] |
| void AnaGuess::Kinematics6M90G::thetacomp | ( | angles_calc & | angle, |
| const position & | p_m | ||
| ) | const [private] |
Definition at line 487 of file kinematics6M90G.cpp.
const int AnaGuess::Kinematics6M90G::cNrOfPossibleSolutions = 8 [static, private] |
Definition at line 69 of file kinematics6M90G.h.
std::vector<double> AnaGuess::Kinematics6M90G::mAngleOffset [private] |
Angle offset vector [rad].
Reimplemented from AnaGuess::Kinematics.
Definition at line 39 of file kinematics6M90G.h.
std::vector<double> AnaGuess::Kinematics6M90G::mAngleStop [private] |
Angle stop vector [rad].
Reimplemented from AnaGuess::Kinematics.
Definition at line 41 of file kinematics6M90G.h.
std::vector<int> AnaGuess::Kinematics6M90G::mEncoderOffset [private] |
Encoder offset vector.
Reimplemented from AnaGuess::Kinematics.
Definition at line 45 of file kinematics6M90G.h.
std::vector<int> AnaGuess::Kinematics6M90G::mEncodersPerCycle [private] |
Encoders per cycle vector.
Reimplemented from AnaGuess::Kinematics.
Definition at line 43 of file kinematics6M90G.h.
Initialized flag.
Definition at line 49 of file kinematics6M90G.h.
int AnaGuess::Kinematics6M90G::mNumberOfMotors [private] |
Number of motors of the robot.
Reimplemented from AnaGuess::Kinematics.
Definition at line 33 of file kinematics6M90G.h.
int AnaGuess::Kinematics6M90G::mNumberOfSegments [private] |
Number of segments of the robot.
Reimplemented from AnaGuess::Kinematics.
Definition at line 35 of file kinematics6M90G.h.
std::vector<int> AnaGuess::Kinematics6M90G::mRotationDirection [private] |
Rotation direction vector [1|-1].
Reimplemented from AnaGuess::Kinematics.
Definition at line 47 of file kinematics6M90G.h.
std::vector<double> AnaGuess::Kinematics6M90G::mSegmentLength [private] |
Effector segment lengths vector [m].
Reimplemented from AnaGuess::Kinematics.
Definition at line 37 of file kinematics6M90G.h.
