KNIConverter.h
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00001 /*
00002  * UOS-ROS packages - Robot Operating System code by the University of Osnabrück
00003  * Copyright (C) 2010  University of Osnabrück
00004  *
00005  * This program is free software; you can redistribute it and/or
00006  * modify it under the terms of the GNU General Public License
00007  * as published by the Free Software Foundation; either version 2
00008  * of the License, or (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 Free Software
00017  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
00018  *
00019  * KNIConverter.h
00020  *
00021  *  Created on: 21.01.2011
00022  *      Author: Martin Günther <mguenthe@uos.de>
00023  */
00024 
00025 #ifndef KNICONVERTER_H_
00026 #define KNICONVERTER_H_
00027 
00028 #include <ros/ros.h>
00029 #include <KNI/kmlFactories.h>
00030 
00031 #include <katana/katana_constants.h>
00032 
00033 namespace katana
00034 {
00035 
00036 class KNIConverter
00037 {
00038 public:
00039   KNIConverter(std::string config_file_path);
00040   virtual ~KNIConverter();
00041 
00042   double angle_rad2enc(int index, double angle);
00043   double angle_enc2rad(int index, int encoders);
00044 
00045   double vel_rad2enc(int index, double vel);
00046   double acc_rad2enc(int index, double acc);
00047   double jerk_rad2enc(int index, double jerk);
00048 
00049   double vel_enc2rad(int index, short encoders);
00050   double acc_enc2rad(int index, short encoders);
00051   double jerk_enc2rad(int index, short encoders);
00052 
00053 private:
00054   KNI::kmlFactory config_;
00055 
00056   double vel_acc_jerk_rad2enc(int index, double vel_acc_jerk);
00057   double vel_acc_jerk_enc2rad(int index, short encoders);
00058 
00059   double deg2rad(const double deg);
00060 
00061 };
00062 
00063 }
00064 
00065 #endif /* KNICONVERTER_H_ */


katana
Author(s): Martin Günther
autogenerated on Thu Aug 27 2015 13:40:35