KatanaKinematics.h
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20 #ifndef KATANAKINEMATICS_H
21 #define KATANAKINEMATICS_H
22 
23 #include "common/dllexport.h"
24 #include "common/exception.h"
25 
26 #include <vector>
27 
28 
29 namespace KNI {
30 
35 
36 
40 public:
41  NoSolutionException() throw():
42  Exception("No solution found", -60) {}
43 
44 };
45 
49 
54  double angleOffset;
55  double angleStop;
56  int epc;
57  int encOffset;
58  int rotDir;
59 };
60 
64 public:
65  virtual ~KatanaKinematics() {}
66 
67  typedef std::vector<KinematicParameters> parameter_container;
68 
71  typedef std::vector<double> angles;
74  typedef std::vector<double> coordinates;
77  typedef std::vector<double> metrics;
80  typedef std::vector<int> encoders;
81 
85  virtual void init(metrics const& length, parameter_container const& parameters) = 0;
86 
92  virtual void DK(coordinates& solution, encoders const& current_encoders) const = 0;
93 
102  virtual void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const = 0;
103 
104 };
105 
106 }
107 
108 #endif
109 
std::vector< double > angles
Being used to store angles (in radian).
FloatVector * pose
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
#define DLLDIR_IK
Definition: dllexport.h:31
std::vector< double > coordinates
To store coordinates.
std::vector< int > encoders
To store encoders.
std::vector< double > metrics
To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot.
Definition: Timer.h:30


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:16