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| CLMBase () |
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void | initLM () |
| Initialize the parameters for the linear movements. More...
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void | movLM (double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) |
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void | movLM2PwithL (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Old version of movLM2P which uses L-Command (only 4 splines) More...
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void | movLM2P4D (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
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void | movLM2P (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS) |
| New version of movLM2P with multiple splines. More...
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void | setMaximumLinearVelocity (double maximumVelocity) |
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double | getMaximumLinearVelocity () const |
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void | setActivatePositionController (bool activate) |
| Re-Activate the position controller after the linear movement. More...
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bool | getActivatePositionController () |
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Check if the position controller will be activated after the linear movement More...
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void | moveRobotLinearTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
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void | moveRobotLinearTo (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS) |
| This method does the same as the one above and is mainly provided for convenience. More...
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| CikBase () |
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| ~CikBase () |
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void | DKApos (double *position) |
| Returns the current position of the robot in cartesian coordinates. More...
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void | getCoordinates (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true) |
| Returns the current position of the robot in cartesian coordinates. More...
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void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter) |
| Calculates a set of encoders for the given coordinates. More...
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void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition) |
| Calculates a set of encoders for the given coordinates. More...
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void | IKGoto (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Moves to robot to given cartesian coordinates and euler-angles. More...
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void | moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
| Moves to robot to given cartesian coordinates and euler-angles. More...
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void | moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
| This method does the same as the one above and is mainly provided for convenience. More...
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CKatBase * | GetBase () |
| Returns pointer to 'CKatBase*'. More...
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| CKatana () |
| Constructor. More...
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| ~CKatana () |
| Destructor. More...
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void | create (const char *configurationFile, CCplBase *protocol) |
| Create routine. More...
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void | create (KNI::kmlFactory *infos, CCplBase *protocol) |
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void | create (TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol) |
| Create routine. More...
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void | calibrate () |
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void | calibrate (long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl) |
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void | searchMechStop (long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl) |
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void | inc (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Increments the motor specified by an index postion in encoders. More...
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void | dec (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Decrements the motor specified by an index postion in encoders. More...
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void | mov (long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Moves the motor specified by an index to a given target position in encoders. More...
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void | incDegrees (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Increments the motor specified by an index postion in degree units. More...
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void | decDegrees (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Decrements the motor specified by an index postion in degree units. More...
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void | movDegrees (long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
| Moves the motor specified by an index to a given target position in degree units. More...
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void | setTPSP (long idx, int tar) |
| Sets the target position of a motor in encoders and allows the movement of that motor during the parallel movement. More...
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void | resetTPSP () |
| Forbid the movement of all the motors during the parallel movement. More...
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void | sendTPSP (bool wait=false, long timeout=TM_ENDLESS) |
| Moves the allowed motors simultaneously. More...
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void | setTPSPDegrees (long idx, double tar) |
| Sets the target position of a motor in degree Units and allows the movement of that motor during the parallel movement. More...
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bool | checkENLD (long idx, double degrees) |
| Check if the absolute position in degrees is out of range. More...
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void | setGripperParameters (bool isPresent, int openEncoders, int closeEncoders) |
| Tell the robot about the presence of a gripper. More...
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void | enableCrashLimits () |
| crash limits enable More...
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void | disableCrashLimits () |
| crash limits disable More...
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void | unBlock () |
| unblock robot after a crash More...
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void | setCrashLimit (long idx, int limit) |
| unblock robot after a crash More...
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void | setPositionCollisionLimit (long idx, int limit) |
| set collision position limits More...
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void | setSpeedCollisionLimit (long idx, int limit) |
| set collision speed limits More...
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short | getNumberOfMotors () const |
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int | getMotorEncoders (short number, bool refreshEncoders=true) const |
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std::vector< int >::iterator | getRobotEncoders (std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const |
| Write the cached encoders into the container. More...
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std::vector< int > | getRobotEncoders (bool refreshEncoders=true) const |
| Get the current robot encoders as a vector-container. More...
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short | getMotorVelocityLimit (short number) const |
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short | getMotorAccelerationLimit (short number) const |
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void | setMotorVelocityLimit (short number, short velocity) |
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void | setMotorAccelerationLimit (short number, short acceleration) |
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void | setRobotVelocityLimit (short velocity) |
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void | setRobotAccelerationLimit (short acceleration) |
| Set the velocity of all motors together. More...
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void | moveMotorByEnc (short number, int encoders, bool waitUntilReached=false, int waitTimeout=0) |
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void | moveMotorBy (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) |
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void | moveMotorToEnc (short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
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void | moveMotorTo (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0) |
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void | waitForMotor (short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000) |
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void | moveRobotToEnc (std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
| Move to robot to given encoders. More...
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void | moveRobotToEnc (std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0) |
| Move to robot to given encoders in the vector-container. More...
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void | moveRobotToEnc4D (std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100) |
| Move to robot to given target in the vector-container with the given velocity, acceleration and tolerance. More...
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void | openGripper (bool waitUntilReached=false, int waitTimeout=100) |
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void | closeGripper (bool waitUntilReached=false, int waitTimeout=100) |
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void | freezeRobot () |
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void | freezeMotor (short number) |
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void | switchRobotOn () |
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void | switchRobotOff () |
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void | switchMotorOn (short number) |
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void | switchMotorOff (short number) |
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void | startSplineMovement (bool exactflag, int moreflag=1) |
| Start a spline movement. More...
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void | startFourSplinesMovement (bool exactflag) |
| Start a fourSplines movement. More...
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void | sendSplineToMotor (unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4) |
| Send one spline to the motor. More...
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void | sendFourSplinesToMotor (unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients) |
| Send four splines to the motor. More...
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void | sendFourSplinesToMotor (unsigned short number, short targetPosition, short duration, short p01, short p11, short p21, short p31, short p02, short p12, short p22, short p32, short p03, short p13, short p23, short p33, short p04, short p14, short p24, short p34) |
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