KNI::KatanaKinematics5M180 Class Reference

#include <KatanaKinematics5M180.h>

Inheritance diagram for KNI::KatanaKinematics5M180:

[legend]Collaboration diagram for KNI::KatanaKinematics5M180:[legend]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_calc >	angles_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

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Detailed Description

Author:

Tiziano Mueller <tiziano.mueller@neuronics.ch>

Christoph Voser <christoph.voser@neuronics.ch>

Definition at line 39 of file KatanaKinematics5M180.h.

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Member Typedef Documentation

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

Definition at line 70 of file KatanaKinematics5M180.h.

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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
	)

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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.

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

• include/KNI_InvKin/KatanaKinematics5M180.h

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