#include <KatanaKinematics5M180.h>

Inheritance diagram for KNI::KatanaKinematics5M180:

Classes
struct	angles_calc
struct	position
Public Member Functions
void	DK (coordinates &solution, encoders const &current_encoders) const
void	IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
void	init (metrics const &length, parameter_container const &parameters)
Private Types
typedef std::vector< angles_calc >	angles_container
Private Member Functions
void	_setLength (metrics const &length)
void	_setParameters (parameter_container const &parameters)
Private Attributes
metrics	_length
parameter_container	_parameters
Static Private Attributes
static const int	_nrOfPossibleSolutions = 1
static const double	_tolerance = 0.001

Detailed Description

Author:: Tiziano Mueller <tiziano.mueller@neuronics.ch>; Christoph Voser <christoph.voser@neuronics.ch>

Definition at line 39 of file KatanaKinematics5M180.h.

Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics5M180::angles_container [private]

Definition at line 70 of file KatanaKinematics5M180.h.

Member Function Documentation

void KNI::KatanaKinematics5M180::_setLength ( metrics const & length ) [inline, private]

Definition at line 78 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::_setParameters ( parameter_container const & parameters ) [inline, private]

Definition at line 79 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::DK	(	coordinates &	solution,
		encoders const &	current_encoders
	)		const `[virtual]`

Direct Kinematic. Calculates the actual position in cartesian coordinates using the given encoders

Parameters:

solution	This is where the algorithm will store the solution to (in cartesian coordinates)
current_encoders	The encoder values which are being used for the calculation

Note:: strong guarantee provided

Implements KNI::KatanaKinematics.

Definition at line 30 of file KatanaKinematics5M180.cpp.

void KNI::KatanaKinematics5M180::IK	(	encoders::iterator	solution,
		coordinates const &	pose,
		encoders const &	cur_angles
	)		const `[virtual]`

Inverse Kinematic. Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.

Parameters:

solution	This is where the algorithm will store the solution to (in encoders)
pose	The target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_angles	The current angles (in encoders) of the robot

Note:: strong guarantee provided

Implements KNI::KatanaKinematics.

Definition at line 65 of file KatanaKinematics5M180.cpp.

void KNI::KatanaKinematics5M180::init	(	metrics const &	length,
		parameter_container const &	parameters
	)		`[virtual]`

Initialize the parameters for the calculations. This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type

Implements KNI::KatanaKinematics.

Definition at line 56 of file KatanaKinematics5M180.cpp.