KatanaKinematics.h
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00001 /***************************************************************************
00002  *   Copyright (C) 2006 by Tiziano Mueller   *
00003  *   tiziano.mueller@neuronics.ch   *
00004  *                                                                         *
00005  *   This program is free software; you can redistribute it and/or modify  *
00006  *   it under the terms of the GNU General Public License as published by  *
00007  *   the Free Software Foundation; either version 2 of the License, or     *
00008  *   (at your option) any later version.                                   *
00009  *                                                                         *
00010  *   This program is distributed in the hope that it will be useful,       *
00011  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00012  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
00013  *   GNU General Public License for more details.                          *
00014  *                                                                         *
00015  *   You should have received a copy of the GNU General Public License     *
00016  *   along with this program; if not, write to the                         *
00017  *   Free Software Foundation, Inc.,                                       *
00018  *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
00019  ***************************************************************************/
00020 #ifndef KATANAKINEMATICS_H
00021 #define KATANAKINEMATICS_H
00022 
00023 #include "common/dllexport.h"
00024 #include "common/exception.h"
00025 
00026 #include <vector>
00027 
00028 
00029 namespace KNI {
00030 
00035 
00036 
00039 class NoSolutionException : public Exception {
00040 public:
00041     NoSolutionException() throw(): 
00042         Exception("No solution found", -60) {}
00043 
00044 };
00045 
00049 
00053 struct DLLDIR_IK KinematicParameters {
00054     double angleOffset;
00055     double angleStop;
00056     int epc;
00057     int encOffset;
00058     int rotDir;
00059 };
00060 
00063 class DLLDIR_IK KatanaKinematics {
00064 public:
00065     virtual ~KatanaKinematics() {}
00066 
00067     typedef std::vector<KinematicParameters>    parameter_container;
00068 
00071     typedef std::vector<double> angles;
00074     typedef std::vector<double> coordinates;
00077     typedef std::vector<double> metrics;
00080     typedef std::vector<int>    encoders;
00081 
00085     virtual void init(metrics const& length, parameter_container const& parameters) = 0;
00086 
00092     virtual void DK(coordinates& solution, encoders const& current_encoders) const = 0;
00093 
00102     virtual void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const = 0;
00103 
00104 };
00105 
00106 }
00107 
00108 #endif
00109 


kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Mon Oct 6 2014 10:45:32