KatanaNativeInterface $VERSION$

KNI_MHF Namespace Reference

Classes

struct  unary_precalc_sin
 function-object which calculates sinus for n-elements of a container if used together with a STL algorithm More...
struct  unary_precalc_cos
struct  unary_rad2deg
 a function-object version of rad2deg More...
struct  unary_deg2rad
 a function-object version of rad2deg More...

Functions

template<typename _T >
short sign (_T x)
template<typename _T >
_T atan1 (_T in1, _T in2)
template<typename _T >
_T acotan (const _T in)
template<typename _T >
_T atan0 (const _T in1, const _T in2)
template<typename _T >
_T pow2 (const _T in)
template<typename _T >
_T rad2deg (const _T a)
 conversion from radian to degree
template<typename _T >
_T deg2rad (const _T a)
 conversion from degree to radian
template<typename _T >
_T anglereduce (const _T a)
template<typename _angleT , typename _encT >
_encT rad2enc (_angleT const &angle, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
 converts absolute angles in radian to encoders.
template<typename _angleT , typename _encT >
_angleT enc2rad (_encT const &enc, _angleT const &angleOffset, _encT const &epc, _encT const &encOffset, _encT const &rotDir)
 converts encoders to absolute angles in radian
double findFirstEqualAngle (double cosValue, double sinValue, double tolerance)
 Find the first equal angle.

Function Documentation

template<typename _T >
_T KNI_MHF::acotan ( const _T  in) [inline]

Definition at line 77 of file MathHelperFunctions.h.

References M_PI.

template<typename _T >
_T KNI_MHF::anglereduce ( const _T  a) [inline]

Definition at line 126 of file MathHelperFunctions.h.

References M_PI.

Referenced by findFirstEqualAngle().

template<typename _T >
_T KNI_MHF::atan0 ( const _T  in1,
const _T  in2 
) [inline]

Definition at line 85 of file MathHelperFunctions.h.

References M_PI.

template<typename _T >
_T KNI_MHF::atan1 ( _T  in1,
_T  in2 
) [inline]

Definition at line 62 of file MathHelperFunctions.h.

References M_PI, and sign().

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template<typename _T >
_T KNI_MHF::deg2rad ( const _T  a) [inline]

conversion from degree to radian

Definition at line 114 of file MathHelperFunctions.h.

References M_PI.

Referenced by KNI_MHF::unary_deg2rad< _T >::operator()().

template<typename _angleT , typename _encT >
_angleT KNI_MHF::enc2rad ( _encT const &  enc,
_angleT const &  angleOffset,
_encT const &  epc,
_encT const &  encOffset,
_encT const &  rotDir 
) [inline]

converts encoders to absolute angles in radian

Definition at line 148 of file MathHelperFunctions.h.

References M_PI.

double KNI_MHF::findFirstEqualAngle ( double  cosValue,
double  sinValue,
double  tolerance 
) [inline]

Find the first equal angle.

You have to pass a cos and a sin Value

Definition at line 157 of file MathHelperFunctions.h.

References anglereduce(), and M_PI.

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template<typename _T >
_T KNI_MHF::pow2 ( const _T  in) [inline]

Definition at line 92 of file MathHelperFunctions.h.

template<typename _T >
_T KNI_MHF::rad2deg ( const _T  a) [inline]

conversion from radian to degree

Definition at line 100 of file MathHelperFunctions.h.

References M_PI.

Referenced by KNI_MHF::unary_rad2deg< _T >::operator()().

template<typename _angleT , typename _encT >
_encT KNI_MHF::rad2enc ( _angleT const &  angle,
_angleT const &  angleOffset,
_encT const &  epc,
_encT const &  encOffset,
_encT const &  rotDir 
) [inline]

converts absolute angles in radian to encoders.

Definition at line 134 of file MathHelperFunctions.h.

References M_PI.

template<typename _T >
short KNI_MHF::sign ( _T  x) [inline]

Definition at line 37 of file MathHelperFunctions.h.

Referenced by atan1().