KNI::KatanaKinematics6M90T Class Reference

#include <KatanaKinematics6M90T.h>

Inheritance diagram for KNI::KatanaKinematics6M90T:

[legend]Collaboration diagram for KNI::KatanaKinematics6M90T:[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)
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.

Definition at line 71 of file KatanaKinematics6M90T.h.

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]`