20#ifndef KNIKATANAKINEMATICS6M180_H
21#define KNIKATANAKINEMATICS6M180_H
bool PositionTest6M180(const angles_calc &a, const position &p) const
void init(metrics const &length, parameter_container const ¶meters)
Initialize the parameters for the calculations.
static const double _tolerance
void thetacomp(angles_calc &a, const position &p_m) const
parameter_container _parameters
void DK(coordinates &solution, encoders const ¤t_encoders) const
Direct Kinematic.
void IK_b1b2costh3_6M180(angles_calc &a, const position &p) const
void _setLength(metrics const &length)
bool angledef(angles_calc &a) const
bool AnglePositionTest(const angles_calc &a) const
void _setParameters(parameter_container const ¶meters)
void IK(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
Inverse Kinematic.
static const int _nrOfPossibleSolutions
std::vector< angles_calc > angles_container
The base class for all kinematic implementations.
std::vector< double > coordinates
To store coordinates.
std::vector< KinematicParameters > parameter_container
std::vector< int > encoders
To store encoders.
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.