20 #ifndef KNIKATANAKINEMATICS6M90G_H
21 #define KNIKATANAKINEMATICS6M90G_H
39 class DLLDIR_IK KatanaKinematics6M90G :
public KatanaKinematics {
43 void init(metrics
const& length, parameter_container
const& parameters);
46 void DK(coordinates& solution, encoders
const& current_encoders)
const;
47 void IK(encoders::iterator solution, coordinates
const& pose, encoders
const& cur_angles)
const;
70 typedef std::vector<angles_calc> angles_container;
73 parameter_container _parameters;
75 static const double _tolerance;
76 static const int _nrOfPossibleSolutions;
78 void _setLength(metrics
const& length) { _length = length; }
79 void _setParameters(parameter_container
const& parameters) { _parameters = parameters; }
81 void IK_theta234theta5(angles_calc& angle,
const position &p_gr)
const;
82 void IK_b1b2costh3_6MS(angles_calc &a,
const position &p)
const;
84 void thetacomp(angles_calc &a,
const position &p_m)
const;
86 bool angledef(angles_calc &a)
const;