KNI::KatanaKinematics6M90T Class Reference

#include <KatanaKinematics6M90T.h>

Inheritance diagram for KNI::KatanaKinematics6M90T:

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Collaboration diagram for KNI::KatanaKinematics6M90T:
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List of all members.

Public Member Functions

void init (metrics const &length, parameter_container const &parameters)
void DK (coordinates &solution, encoders const &current_encoders) const
void IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const

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 coordinates &pose) 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 double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const
double findFirstEqualAngle (const angles &v1, const angles &v2) const

Private Attributes

metrics _length
parameter_container _parameters

Static Private Attributes

static const double _tolerance
static const int _nrOfPossibleSolutions

Classes

struct  angles_calc
struct  position

Detailed Description

Author:
Tiziano Mueller <tiziano.mueller@neuronics.ch>

Christoph Voser <christoph.voser@neuronics.ch>

Definition at line 39 of file KatanaKinematics6M90T.h.


Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics6M90T::angles_container [private]

Definition at line 71 of file KatanaKinematics6M90T.h.


Member Function Documentation

void KNI::KatanaKinematics6M90T::_setLength ( metrics const &  length  )  [inline, private]

Definition at line 79 of file KatanaKinematics6M90T.h.

void KNI::KatanaKinematics6M90T::_setParameters ( parameter_container const &  parameters  )  [inline, private]

Definition at line 80 of file KatanaKinematics6M90T.h.

bool KNI::KatanaKinematics6M90T::angledef ( angles_calc a  )  const [private]

bool KNI::KatanaKinematics6M90T::AnglePositionTest ( const angles_calc a  )  const [private]

void KNI::KatanaKinematics6M90T::DK ( coordinates solution,
encoders const &  current_encoders 
) const

double KNI::KatanaKinematics6M90T::findFirstEqualAngle ( const angles v1,
const angles v2 
) const [private]

bool KNI::KatanaKinematics6M90T::GripperTest ( const position p_gr,
const angles_calc angle 
) const [private]

void KNI::KatanaKinematics6M90T::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const

void KNI::KatanaKinematics6M90T::IK_b1b2costh3_6MS ( angles_calc a,
const position p 
) const [private]

void KNI::KatanaKinematics6M90T::IK_theta234theta5 ( angles_calc angle,
const position p_gr 
) const [private]

void KNI::KatanaKinematics6M90T::init ( metrics const &  length,
parameter_container const &  parameters 
)

bool KNI::KatanaKinematics6M90T::PositionTest6MS ( const double &  theta1,
const double &  theta2,
const double &  theta3,
const double &  theta234,
const position p 
) const [private]

void KNI::KatanaKinematics6M90T::thetacomp ( angles_calc a,
const position p_m,
const coordinates pose 
) const [private]


Member Data Documentation

metrics KNI::KatanaKinematics6M90T::_length [private]

Definition at line 73 of file KatanaKinematics6M90T.h.

const int KNI::KatanaKinematics6M90T::_nrOfPossibleSolutions [static, private]

Definition at line 77 of file KatanaKinematics6M90T.h.

parameter_container KNI::KatanaKinematics6M90T::_parameters [private]

Definition at line 74 of file KatanaKinematics6M90T.h.

const double KNI::KatanaKinematics6M90T::_tolerance [static, private]

Definition at line 76 of file KatanaKinematics6M90T.h.


The documentation for this class was generated from the following file:
Generated on Mon Sep 14 19:13:20 2009 for KatanaNativeInterface by  doxygen 1.4.7