KatanaNativeInterface $VERSION$
KatanaKinematics.h
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1/***************************************************************************
2 * Copyright (C) 2006 by Tiziano Mueller *
3 * tiziano.mueller@neuronics.ch *
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20#ifndef KATANAKINEMATICS_H
21#define KATANAKINEMATICS_H
22
23#include "common/dllexport.h"
24#include "common/exception.h"
25
26#include <vector>
27
28
29namespace KNI {
30
35
36
40public:
42 Exception("No solution found", -60) {}
43
44};
45
49
55 double angleStop;
56 int epc;
58 int rotDir;
59};
60
64public:
65 virtual ~KatanaKinematics() {}
66
67 typedef std::vector<KinematicParameters> parameter_container;
68
71 typedef std::vector<double> angles;
74 typedef std::vector<double> coordinates;
77 typedef std::vector<double> metrics;
80 typedef std::vector<int> encoders;
81
85 virtual void init(metrics const& length, parameter_container const& parameters) = 0;
86
92 virtual void DK(coordinates& solution, encoders const& current_encoders) const = 0;
93
102 virtual void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const = 0;
103
104};
105
106}
107
108#endif
109
The base class for all kinematic implementations.
std::vector< double > coordinates
To store coordinates.
std::vector< double > angles
Being used to store angles (in radian).
virtual void IK(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0
Inverse Kinematic.
virtual void init(metrics const &length, parameter_container const &parameters)=0
Initialize the parameters for the calculations.
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.
virtual void DK(coordinates &solution, encoders const &current_encoders) const =0
Direct Kinematic.
No solution found for the given cartesian coordinates.
#define DLLDIR_IK
Definition: dllexport.h:31
Definition: Timer.h:30
To pass different parameters for the kinematic implementations.