KNI::KatanaKinematics Class Reference

The base class for all kinematic implementations. More...

#include <KatanaKinematics.h>

Inheritance diagram for KNI::KatanaKinematics:
Inheritance graph
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List of all members.

Public Types

typedef std::vector
< KinematicParameters
parameter_container
typedef std::vector< double > angles
 Being used to store angles (in radian).
typedef std::vector< double > coordinates
 To store coordinates.
typedef std::vector< double > metrics
 To store metrics, 'aka' the length's of the different segments of the robot.
typedef std::vector< int > encoders
 To store encoders.

Public Member Functions

virtual ~KatanaKinematics ()
virtual void init (metrics const &length, parameter_container const &parameters)=0
 Initialize the parameters for the calculations.
virtual void DK (coordinates &solution, encoders const &current_encoders) const =0
 Direct Kinematic.
virtual void IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0
 Inverse Kinematic.

Detailed Description

The base class for all kinematic implementations.

Definition at line 63 of file KatanaKinematics.h.


Member Typedef Documentation

typedef std::vector<double> KNI::KatanaKinematics::angles

Being used to store angles (in radian).

Definition at line 71 of file KatanaKinematics.h.

typedef std::vector<double> KNI::KatanaKinematics::coordinates

To store coordinates.

Definition at line 74 of file KatanaKinematics.h.

typedef std::vector<int> KNI::KatanaKinematics::encoders

To store encoders.

Definition at line 80 of file KatanaKinematics.h.

typedef std::vector<double> KNI::KatanaKinematics::metrics

To store metrics, 'aka' the length's of the different segments of the robot.

Definition at line 77 of file KatanaKinematics.h.

Definition at line 67 of file KatanaKinematics.h.


Constructor & Destructor Documentation

virtual KNI::KatanaKinematics::~KatanaKinematics (  )  [inline, virtual]

Definition at line 65 of file KatanaKinematics.h.


Member Function Documentation

virtual void KNI::KatanaKinematics::DK ( coordinates solution,
encoders const &  current_encoders 
) const [pure 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

Implemented in KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.

virtual void KNI::KatanaKinematics::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const [pure 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

Implemented in KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.

virtual void KNI::KatanaKinematics::init ( metrics const &  length,
parameter_container const &  parameters 
) [pure 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

Implemented in KNI::KatanaKinematics5M180, KNI::KatanaKinematics6M180, KNI::KatanaKinematics6M90G, and KNI::KatanaKinematics6M90T.


The documentation for this class was generated from the following file:

Generated on 14 Sep 2009 for KatanaNativeInterface by  doxygen 1.6.1