KatanaNativeInterface  $VERSION$
Classes | Public Member Functions | Private Types | Private Member Functions | Private Attributes | Static Private Attributes | List of all members
KNI::KatanaKinematics6M90G Class Reference

#include <KatanaKinematics6M90G.h>

Inheritance diagram for KNI::KatanaKinematics6M90G:
Inheritance graph
Collaboration diagram for KNI::KatanaKinematics6M90G:
Collaboration graph

Classes

struct  angles_calc
 
struct  position
 

Public Member Functions

void init (metrics const &length, parameter_container const &parameters)
 Initialize the parameters for the calculations. More...
 
void DK (coordinates &solution, encoders const &current_encoders) const
 Direct Kinematic. More...
 
void IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
 Inverse Kinematic. More...
 
- Public Member Functions inherited from KNI::KatanaKinematics
virtual ~KatanaKinematics ()
 

Private Types

typedef std::vector< angles_calcangles_container
 

Private Member Functions

void _setLength (metrics const &length)
 
void _setParameters (parameter_container const &parameters)
 
void IK_theta234theta5 (angles_calc &angle, const position &p_gr) const
 
void IK_b1b2costh3_6MS (angles_calc &a, const position &p) const
 
void thetacomp (angles_calc &a, const position &p_m) const
 
bool angledef (angles_calc &a) const
 
bool GripperTest (const position &p_gr, const angles_calc &angle) const
 
bool AnglePositionTest (const angles_calc &a) const
 
bool PositionTest6MS (const angles_calc &a, const position &p) const
 

Private Attributes

metrics _length
 
parameter_container _parameters
 

Static Private Attributes

static const double _tolerance
 
static const int _nrOfPossibleSolutions
 

Additional Inherited Members

- Public Types inherited from KNI::KatanaKinematics
typedef std::vector< KinematicParametersparameter_container
 
typedef std::vector< double > angles
 Being used to store angles (in radian). More...
 
typedef std::vector< double > coordinates
 To store coordinates. More...
 
typedef std::vector< double > metrics
 To store metrics, 'aka' the length's of the different segments of the robot. More...
 
typedef std::vector< int > encoders
 To store encoders. More...
 

Detailed Description

Author
Tiziano Mueller tizia.nosp@m.no.m.nosp@m.uelle.nosp@m.r@ne.nosp@m.uroni.nosp@m.cs.c.nosp@m.h
Christoph Voser chris.nosp@m.toph.nosp@m..vose.nosp@m.r@ne.nosp@m.uroni.nosp@m.cs.c.nosp@m.h

Definition at line 39 of file KatanaKinematics6M90G.h.

Member Typedef Documentation

◆ angles_container

Definition at line 70 of file KatanaKinematics6M90G.h.

Member Function Documentation

◆ _setLength()

void KNI::KatanaKinematics6M90G::_setLength ( metrics const &  length)
inlineprivate

Definition at line 78 of file KatanaKinematics6M90G.h.

◆ _setParameters()

void KNI::KatanaKinematics6M90G::_setParameters ( parameter_container const &  parameters)
inlineprivate

Definition at line 79 of file KatanaKinematics6M90G.h.

◆ angledef()

bool KNI::KatanaKinematics6M90G::angledef ( angles_calc a) const
private

◆ AnglePositionTest()

bool KNI::KatanaKinematics6M90G::AnglePositionTest ( const angles_calc a) const
private

◆ DK()

void KNI::KatanaKinematics6M90G::DK ( coordinates solution,
encoders const &  current_encoders 
) const
virtual

Direct Kinematic.

Calculates the actual position in cartesian coordinates using the given encoders

Parameters
solutionThis is where the algorithm will store the solution to (in cartesian coordinates)
current_encodersThe encoder values which are being used for the calculation
Note
strong guarantee provided

Implements KNI::KatanaKinematics.

◆ GripperTest()

bool KNI::KatanaKinematics6M90G::GripperTest ( const position p_gr,
const angles_calc angle 
) const
private

◆ IK()

void KNI::KatanaKinematics6M90G::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const
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
solutionThis is where the algorithm will store the solution to (in encoders)
poseThe target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_anglesThe current angles (in encoders) of the robot
Note
strong guarantee provided

Implements KNI::KatanaKinematics.

◆ IK_b1b2costh3_6MS()

void KNI::KatanaKinematics6M90G::IK_b1b2costh3_6MS ( angles_calc a,
const position p 
) const
private

◆ IK_theta234theta5()

void KNI::KatanaKinematics6M90G::IK_theta234theta5 ( angles_calc angle,
const position p_gr 
) const
private

◆ init()

void KNI::KatanaKinematics6M90G::init ( metrics const &  length,
parameter_container const &  parameters 
)
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

Implements KNI::KatanaKinematics.

◆ PositionTest6MS()

bool KNI::KatanaKinematics6M90G::PositionTest6MS ( const angles_calc a,
const position p 
) const
private

◆ thetacomp()

void KNI::KatanaKinematics6M90G::thetacomp ( angles_calc a,
const position p_m 
) const
private

Member Data Documentation

◆ _length

metrics KNI::KatanaKinematics6M90G::_length
private

Definition at line 72 of file KatanaKinematics6M90G.h.

◆ _nrOfPossibleSolutions

const int KNI::KatanaKinematics6M90G::_nrOfPossibleSolutions
staticprivate

Definition at line 76 of file KatanaKinematics6M90G.h.

◆ _parameters

parameter_container KNI::KatanaKinematics6M90G::_parameters
private

Definition at line 73 of file KatanaKinematics6M90G.h.

◆ _tolerance

const double KNI::KatanaKinematics6M90G::_tolerance
staticprivate

Definition at line 75 of file KatanaKinematics6M90G.h.


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