#include <KatanaKinematics5M180.h>
§ angles_container
§ _setLength()
void KNI::KatanaKinematics5M180::_setLength |
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metrics const & |
length | ) |
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inlineprivate |
§ _setParameters()
§ DK()
void KNI::KatanaKinematics5M180::DK |
( |
coordinates & |
solution, |
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encoders const & |
current_encoders |
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) |
| const |
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virtual |
Direct Kinematic.
Calculates the actual position in cartesian coordinates using the given encoders
- Parameters
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solution | This is where the algorithm will store the solution to (in cartesian coordinates) |
current_encoders | The encoder values which are being used for the calculation |
- Note
- strong guarantee provided
Implements KNI::KatanaKinematics.
§ IK()
void KNI::KatanaKinematics5M180::IK |
( |
encoders::iterator |
solution, |
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coordinates const & |
pose, |
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encoders const & |
cur_angles |
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) |
| const |
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virtual |
Inverse Kinematic.
Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.
- Parameters
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solution | This is where the algorithm will store the solution to (in encoders) |
pose | The target position in cartesian coordinates plus the euler angles for the direction of the gripper |
cur_angles | The current angles (in encoders) of the robot |
- Note
- strong guarantee provided
Implements KNI::KatanaKinematics.
§ init()
Initialize the parameters for the calculations.
This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type
Implements KNI::KatanaKinematics.
§ _length
metrics KNI::KatanaKinematics5M180::_length |
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private |
§ _nrOfPossibleSolutions
const int KNI::KatanaKinematics5M180::_nrOfPossibleSolutions |
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staticprivate |
§ _parameters
§ _tolerance
const double KNI::KatanaKinematics5M180::_tolerance |
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staticprivate |
The documentation for this class was generated from the following file: