23#include "katana6M180.h"
25#include "../manipulator.h"
42 unsigned int countDevice)
63OpenRaveManipulatorKatana6M180::angle_OR_to_device(
unsigned int number,
float angle)
const
68 case 0: _angle = angle + M_PI;
break;
69 case 1: _angle = angle + M_PI / 2;
break;
70 case 2: _angle = angle + M_PI;
break;
71 case 3: _angle = M_PI - angle;
break;
72 case 4: _angle = 1.5 * M_PI - angle;
break;
73 default: _angle = angle;
break;
80OpenRaveManipulatorKatana6M180::angle_device_to_OR(
unsigned int number,
float angle)
const
85 case 0: _angle = angle - M_PI;
break;
86 case 1: _angle = angle - M_PI / 2;
break;
87 case 2: _angle = angle - M_PI;
break;
88 case 3: _angle = M_PI - angle;
break;
89 case 4: _angle = 1.5 * M_PI - angle;
break;
90 default: _angle = angle;
break;
virtual OpenRaveManipulatorPtr copy()
Create a new copy of this OpenRaveManipulator instance.
OpenRaveManipulatorKatana6M180(unsigned int count, unsigned int countDevice)
Constructor.
virtual ~OpenRaveManipulatorKatana6M180()
Destructor.
Class containing information about all manipulator motors.
Fawkes library namespace.