, including all inherited members.
_activatePositionController | CLMBase | [private] |
_gripperCloseEncoders | CKatana | [protected] |
_gripperIsPresent | CKatana | [protected] |
_gripperOpenEncoders | CKatana | [protected] |
_isInitialized | CLMBase | [private] |
_maximumVelocity | CLMBase | [private] |
base | CKatana | [protected] |
blendtrajectory | CLMBase | [private] |
calcParameters(double *arr_actpos, double *arr_tarpos, double vmax) | CLMBase | [private] |
calibrate() | CKatana | |
calibrate(long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl) | CKatana | |
checkENLD(long idx, double degrees) | CKatana | |
checkJointSpeed(std::vector< int > lastsolution, std::vector< int > solution, double time) | CLMBase | [private] |
CikBase() | CikBase | [inline] |
CKatana() | CKatana | [inline] |
CLMBase() | CLMBase | [inline] |
closeGripper(bool waitUntilReached=false, int waitTimeout=100) | CKatana | |
create(const char *configurationFile, CCplBase *protocol) | CKatana | |
create(KNI::kmlFactory *infos, CCplBase *protocol) | CKatana | |
create(TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol) | CKatana | |
dec(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
decDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
disableCrashLimits() | CKatana | |
DKApos(double *position) | CikBase | |
enableCrashLimits() | CKatana | |
fillPoints(double vmax) | CLMBase | [private] |
freezeMotor(short number) | CKatana | |
freezeRobot() | CKatana | |
getActivatePositionController() | CLMBase | |
GetBase() | CKatana | [inline] |
getCoordinates(double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true) | CikBase | |
getMaximumLinearVelocity() const | CLMBase | |
getMotorAccelerationLimit(short number) const | CKatana | |
getMotorEncoders(short number, bool refreshEncoders=true) const | CKatana | |
getMotorVelocityLimit(short number) const | CKatana | |
getNumberOfMotors() const | CKatana | |
getRobotEncoders(std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const | CKatana | |
getRobotEncoders(bool refreshEncoders=true) const | CKatana | |
IKCalculate(double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter) | CikBase | |
IKCalculate(double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition) | CikBase | |
IKGoto(double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CikBase | |
inc(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
incDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
initLM() | CLMBase | |
mKatanaType | CKatana | [protected] |
mov(long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
movDegrees(long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CKatana | |
moveMotorBy(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) | CKatana | |
moveMotorByEnc(short number, int encoders, bool waitUntilReached=false, int waitTimeout=0) | CKatana | |
moveMotorTo(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) | CKatana | |
moveMotorToEnc(short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) | CKatana | |
moveRobotLinearTo(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) | CLMBase | |
moveRobotLinearTo(std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) | CLMBase | |
moveRobotTo(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) | CikBase | |
moveRobotTo(std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) | CikBase | |
moveRobotToEnc(std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) | CKatana | |
moveRobotToEnc(std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) | CKatana | |
moveRobotToEnc4D(std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100) | CKatana | |
movLM(double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) | CLMBase | |
movLM2P(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) | CLMBase | |
movLM2P4D(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CLMBase | |
movLM2PwithL(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) | CLMBase | |
openGripper(bool waitUntilReached=false, int waitTimeout=100) | CKatana | |
polCoefficients() | CLMBase | [private] |
polDeviratives() | CLMBase | [private] |
relPosition(double reltime, double distance, double acc, double dec, double vmax) | CLMBase | [private] |
resetTPSP() | CKatana | |
searchMechStop(long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl) | CKatana | |
sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients) | CKatana | |
sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, short p01, short p11, short p21, short p31, short p02, short p12, short p22, short p32, short p03, short p13, short p23, short p33, short p04, short p14, short p24, short p34) | CKatana | |
sendSplineToMotor(unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4) | CKatana | |
sendTPSP(bool wait=false, long timeout=TM_ENDLESS) | CKatana | |
setActivatePositionController(bool activate) | CLMBase | |
setCrashLimit(long idx, int limit) | CKatana | |
setGripperParameters(bool isPresent, int openEncoders, int closeEncoders) | CKatana | |
setMaximumLinearVelocity(double maximumVelocity) | CLMBase | |
setMotorAccelerationLimit(short number, short acceleration) | CKatana | |
setMotorVelocityLimit(short number, short velocity) | CKatana | |
setPositionCollisionLimit(long idx, int limit) | CKatana | |
setRobotAccelerationLimit(short acceleration) | CKatana | |
setRobotVelocityLimit(short velocity) | CKatana | |
setSpeedCollisionLimit(long idx, int limit) | CKatana | |
setTolerance(long idx, int enc_tolerance) | CKatana | [protected] |
setTPSP(long idx, int tar) | CKatana | |
setTPSPDegrees(long idx, double tar) | CKatana | |
splineCoefficients(int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4) | CLMBase | [private] |
startFourSplinesMovement(bool exactflag) | CKatana | |
startSplineMovement(bool exactflag, int moreflag=1) | CKatana | |
switchMotorOff(short number) | CKatana | |
switchMotorOn(short number) | CKatana | |
switchRobotOff() | CKatana | |
switchRobotOn() | CKatana | |
totalTime(double distance, double acc, double dec, double vmax) | CLMBase | [private] |
trajectory | CLMBase | [private] |
unBlock() | CKatana | |
waitForMotor(short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000) | CKatana | |
~CikBase() | CikBase | [inline] |
~CKatana() | CKatana | [inline] |