Fawkes API  Fawkes Development Version
neuronics_katana.cpp
1 
2 /***************************************************************************
3  * neuronics_katana.cpp - Fawkes to OpenRAVE Neuronics Katana6M180 Manipulator Data
4  *
5  * Created: Thu Sep 08 15:34:52 2011
6  * Copyright 2011 Bahram Maleki-Fard, AllemaniACs RoboCup Team
7  *
8  ****************************************************************************/
9 
10 /* This program is free software; you can redistribute it and/or modify
11  * it under the terms of the GNU General Public License as published by
12  * the Free Software Foundation; either version 2 of the License, or
13  * (at your option) any later version.
14  *
15  * This program is distributed in the hope that it will be useful,
16  * but WITHOUT ANY WARRANTY; without even the implied warranty of
17  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
18  * GNU Library General Public License for more details.
19  *
20  * Read the full text in the LICENSE.GPL file in the doc directory.
21  */
22 
23 #include "neuronics_katana.h"
24 
25 #include "../manipulator.h"
26 
27 #include <cmath>
28 #include <cstdio>
29 
30 namespace fawkes {
31 
32 /** @class OpenRaveManipulatorNeuronicsKatana <plugins/openrave/manipulators/neuronics_katana.h>
33  * Class containing information about all neuronics-katana motors.
34  * It is the Katana6M180 type. Model is provided by OpenRAVE.
35  * @author Bahram Maleki-Fard
36  */
37 
38 /** Constructor.
39  * @param count number of motors of OpenRAVE model
40  * @param countDevice number of motors of real device
41  */
43  unsigned int countDevice)
44 : OpenRaveManipulator(count, countDevice)
45 {
46 }
47 
48 /** Destructor. */
50 {
51 }
52 
53 /** Create a new copy of this OpenRaveManipulator instance.
54  * @return A pointer to the copied instance
55  */
58 {
60 }
61 
62 /* ########## various ######### */
63 float
64 OpenRaveManipulatorNeuronicsKatana::angle_OR_to_device(unsigned int number, float angle) const
65 {
66  float _angle;
67 
68  switch (number) {
69  case 0: _angle = M_PI - angle; break;
70  case 1: _angle = M_PI / 2 - angle; break;
71  case 2: _angle = M_PI - angle; break;
72  case 3: _angle = M_PI - angle; break;
73  case 4: _angle = M_PI - angle; break;
74  default: _angle = angle; break;
75  }
76 
77  return _angle;
78 }
79 
80 float
81 OpenRaveManipulatorNeuronicsKatana::angle_device_to_OR(unsigned int number, float angle) const
82 {
83  float _angle;
84 
85  switch (number) {
86  case 0: _angle = M_PI - angle; break;
87  case 1: _angle = M_PI / 2 - angle; break;
88  case 2: _angle = M_PI - angle; break;
89  case 3: _angle = M_PI - angle; break;
90  case 4: _angle = M_PI - angle; break;
91  default: _angle = angle; break;
92  }
93 
94  return _angle;
95 }
96 } // end namespace fawkes
virtual OpenRaveManipulatorPtr copy()
Create a new copy of this OpenRaveManipulator instance.
Fawkes library namespace.
OpenRaveManipulatorNeuronicsKatana(unsigned int count, unsigned int countDevice)
Constructor.
virtual ~OpenRaveManipulatorNeuronicsKatana()
Destructor.
Class containing information about all manipulator motors.
Definition: manipulator.h:32