KatanaNativeInterface $VERSION$
KatanaKinematics5M180.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 *
6 * it under the terms of the GNU General Public License as published by *
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8 * (at your option) any later version. *
9 * *
10 * This program is distributed in the hope that it will be useful, *
11 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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13 * GNU General Public License for more details. *
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20#ifndef KNIKATANAKINEMATICS5M180_H
21#define KNIKATANAKINEMATICS5M180_H
22
23#include "common/dllexport.h"
24
27
28#include <vector>
29
30
31namespace KNI {
32
40
41public:
42
43 void init(metrics const& length, parameter_container const& parameters);
44
45 // strong guarantee provided here:
46 void DK(coordinates& solution, encoders const& current_encoders) const;
47 void IK(encoders::iterator solution, coordinates const& pose, encoders const& cur_angles) const;
48
49
50private:
51
52 struct position {
53 double x;
54 double y;
55 double z;
56 };
57
58 struct angles_calc {
59 double theta1;
60 double theta2;
61 double theta3;
62 double theta4;
63 double theta5;
64 double theta234;
65 double b1;
66 double b2;
67 double costh3;
68 };
69
70 typedef std::vector<angles_calc> angles_container;
71
74
75 static const double _tolerance; // initialized in .cpp
76 static const int _nrOfPossibleSolutions;
77
78 void _setLength(metrics const& length) { _length = length; }
79 void _setParameters(parameter_container const& parameters) { _parameters = parameters; }
80
81
82};
83
84
85
86
87
88}
89
90#endif
void init(metrics const &length, parameter_container const &parameters)
Initialize the parameters for the calculations.
void _setParameters(parameter_container const &parameters)
void _setLength(metrics const &length)
void IK(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
Inverse Kinematic.
static const int _nrOfPossibleSolutions
void DK(coordinates &solution, encoders const &current_encoders) const
Direct Kinematic.
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