KNI::KatanaKinematics5M180 Class Reference

#include <KatanaKinematics5M180.h>

Inheritance diagram for KNI::KatanaKinematics5M180:

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Collaboration diagram for KNI::KatanaKinematics5M180:
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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)

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 KatanaKinematics5M180.h.


Member Typedef Documentation

typedef std::vector<angles_calc> KNI::KatanaKinematics5M180::angles_container [private]

Definition at line 70 of file KatanaKinematics5M180.h.


Member Function Documentation

void KNI::KatanaKinematics5M180::_setLength ( metrics const &  length  )  [inline, private]

Definition at line 78 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::_setParameters ( parameter_container const &  parameters  )  [inline, private]

Definition at line 79 of file KatanaKinematics5M180.h.

void KNI::KatanaKinematics5M180::DK ( coordinates solution,
encoders const &  current_encoders 
) const

void KNI::KatanaKinematics5M180::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const

void KNI::KatanaKinematics5M180::init ( metrics const &  length,
parameter_container const &  parameters 
)


Member Data Documentation

metrics KNI::KatanaKinematics5M180::_length [private]

Definition at line 72 of file KatanaKinematics5M180.h.

const int KNI::KatanaKinematics5M180::_nrOfPossibleSolutions [static, private]

Definition at line 76 of file KatanaKinematics5M180.h.

parameter_container KNI::KatanaKinematics5M180::_parameters [private]

Definition at line 73 of file KatanaKinematics5M180.h.

const double KNI::KatanaKinematics5M180::_tolerance [static, private]

Definition at line 75 of file KatanaKinematics5M180.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