KatanaNativeInterface
$VERSION$
|
Go to the documentation of this file.
132 Exception("Joint speed too high", -70) {}
140 Exception("Wait parameter set to false", -71) {}
166 void fillPoints(
double vmax);
167 void polDeviratives();
168 void polCoefficients();
170 void calcParameters(
double* arr_actpos,
double* arr_tarpos,
double vmax);
183 double totalTime(
double distance,
double acc,
double dec,
double vmax);
196 double relPosition(
double reltime,
double distance,
double acc,
double dec,
215 void splineCoefficients(
int steps,
double *timearray,
double *encoderarray,
216 double *arr_p1,
double *arr_p2,
double *arr_p3,
double *arr_p4);
229 bool checkJointSpeed(std::vector<int> lastsolution,
230 std::vector<int> solution,
double time);
239 CLMBase() : _maximumVelocity(20), _activatePositionController(true), _isInitialized(false) {}
247 void movLM(
double X,
double Y,
double Z,
248 double Al,
double Be,
double Ga,
249 bool exactflag,
double vmax,
bool wait=
true,
int tolerance = 100,
long timeout =
TM_ENDLESS);
254 void movLM2PwithL(
double X1,
double Y1,
double Z1,
double Al1,
double Be1,
255 double Ga1,
double X2,
double Y2,
double Z2,
double Al2,
double Be2,
256 double Ga2,
bool exactflag,
double vmax,
bool wait=
false,
257 int tolerance = 100,
long timeout =
TM_ENDLESS);
259 void movLM2P4D(
double X1,
double Y1,
double Z1,
260 double Al1,
double Be1,
double Ga1,
261 double X2,
double Y2,
double Z2,
262 double Al2,
double Be2,
double Ga2,
263 bool exactflag,
double vmax,
bool wait=
false,
int tolerance = 100,
long timeout =
TM_ENDLESS);
291 void movLM2P(
double X1,
double Y1,
double Z1,
double Al1,
double Be1,
292 double Ga1,
double X2,
double Y2,
double Z2,
double Al2,
double Be2,
293 double Ga2,
bool exactflag,
double vmax,
bool wait=
true,
294 int tolerance = 100,
long timeout =
TM_ENDLESS);
296 void setMaximumLinearVelocity(
double maximumVelocity);
297 double getMaximumLinearVelocity()
const;
302 void setActivatePositionController(
bool activate);
306 bool getActivatePositionController();
309 void moveRobotLinearTo(
310 double x,
double y,
double z,
311 double phi,
double theta,
double psi,
312 bool waitUntilReached =
true,
319 void moveRobotLinearTo(
320 std::vector<double> coordinates,
321 bool waitUntilReached =
true,
double time
time that it takes to reach the point (from starting position)
[LM] linear movement: parameters
TSplinepoint * splinepoints
short mlm_intermediate_pos[5]
current position in cartesian units
TLM_points * points
points to be interpolated
double dt
time elapsed between one step and the next one
double * arr_tarpos
target position in cartesian units
#define TM_ENDLESS
timeout symbol for 'endless' waiting
int distance
distance between target and current position
[LMBLEND] Standard coordinates for a point in space
double ** derivatives
second order derivatives of the polinomes that join the points, in the points
Wait parameter set to false.
[LM] linear movement: points to be interpolated
double pos
position of one point to be interpolated (% refer to the total trajectory)
short number_of_referencepoints
bool _activatePositionController
short ** motors
motor position in each point to be interpolated
[LMBLEND] Trajectory points
short *** parameters
parameters to be sent in the command 'L' packet
TBLENDtrajectory blendtrajectory
TPoint6D * referencepoints
short number_of_splinepoints
double time
time that it takes from current position to target position
double * arr_actpos
current position in cartesian units
short number_of_points
number of points to interpolate
[LM] Store intermediate targets for multiple linear movements
double *** coefficients
coefficients of the polinomes that join the points