KatanaNativeInterface $VERSION$
KatanaKinematics6M180.h
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1/***************************************************************************
2 * Copyright (C) 2006 by Tiziano Mueller *
3 * tiziano.mueller@neuronics.ch *
4 * *
5 * This program is free software; you can redistribute it and/or modify *
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10 * This program is distributed in the hope that it will be useful, *
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20#ifndef KNIKATANAKINEMATICS6M180_H
21#define KNIKATANAKINEMATICS6M180_H
22
23#include "common/dllexport.h"
24
27
28
29#include <vector>
30
31
32namespace KNI {
33
41
42public:
43
44 void init(metrics const& length, parameter_container const& parameters);
45
46 // strong guarantee provided here:
47 void DK(coordinates& solution, encoders const& current_encoders) const;
48 void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const;
49
50
51private:
52
53 struct position {
54 double x;
55 double y;
56 double z;
57 };
58
59 struct angles_calc {
60 double theta1;
61 double theta2;
62 double theta3;
63 double theta4;
64 double theta5;
65 double theta234;
66 double b1;
67 double b2;
68 double costh3;
69 };
70
71 typedef std::vector<angles_calc> angles_container;
72
75
76 static const double _tolerance; // initialized in .cpp
77 static const int _nrOfPossibleSolutions;
78
79 void _setLength(metrics const& length) { _length = length; }
80 void _setParameters(parameter_container const& parameters) { _parameters = parameters; }
81
82 void IK_b1b2costh3_6M180(angles_calc &a, const position &p) const;
83
84 void thetacomp(angles_calc &a, const position &p_m) const;
85
86 bool angledef(angles_calc &a) const;
87
88 bool AnglePositionTest(const angles_calc &a) const;
89 bool PositionTest6M180(const angles_calc &a, const position &p) const;
90
91};
92
93
94
95
96
97}
98
99#endif
bool PositionTest6M180(const angles_calc &a, const position &p) const
void init(metrics const &length, parameter_container const &parameters)
Initialize the parameters for the calculations.
void thetacomp(angles_calc &a, const position &p_m) const
void DK(coordinates &solution, encoders const &current_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 &parameters)
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.
#define DLLDIR_IK
Definition: dllexport.h:31
Definition: Timer.h:30