KatanaNativeInterface  $VERSION$
Class Hierarchy

Go to the graphical class hierarchy

This inheritance list is sorted roughly, but not completely, alphabetically:
[detail level 1234]
oCKNI::KatanaKinematics5M180::angles_calc
oCKNI::KatanaKinematics6M180::angles_calc
oCKNI::KatanaKinematics6M90G::angles_calc
oCKNI::KatanaKinematics6M90T::angles_calc
oCCCdlBaseAbstract base class for devices
|oCCCdlCOMEncapsulates the serial port device
|\CCCdlSocketEncapsulates the socket communication device
oCCCplBaseAbstract base class for protocol definiton
|\CCCplSerialBase class of two different serial protocols
| \CCCplSerialCRCImplement the Serial-Zero protocol
oCCKatanaExtended Katana class with additional functions
|\CCikBase
| \CCLMBaseLinear movement Class
oCCKatBaseBase Katana class
oCCMotBaseMotor class
oCContext
oCCSctBaseSensor Controller class
oCstd::exceptionSTL class
|\CException
| oCCannotGetSetPortAttributesExceptionCould not set or get the attributes for the given serial communication device
| oCCannotOpenPortExceptionFailed to open the serial communication device
| oCConfigFileEntryNotFoundExceptionThe requested entry could not be found
| oCConfigFileOpenExceptionAccessing the given configuration file failed (may be: access denied or wrong path)
| oCConfigFileSectionNotFoundExceptionThe requested section could not be found
| oCConfigFileStateExceptionThe state of the configuration file wasn't "good"
| oCConfigFileSubsectionNotFoundExceptionThe requested subsection could not be found
| oCConfigFileSyntaxErrorExceptionThere was a syntax error in the configuration file
| oCDeviceReadExceptionReading from the serial communication device failed
| oCDeviceWriteExceptionWriting to the serial communication device failed
| oCErrorExceptionThe Katana returned an error string
| oCFirmwareExceptionException reported by the firmware
| oCJointSpeedExceptionJoint speed too high
| oCKNI::NoSolutionExceptionNo solution found for the given cartesian coordinates
| oCMotorCrashExceptionThe requested motor crashed during the movement
| oCMotorOutOfRangeExceptionThe encoders for the given motor were out of range
| oCMotorTimeoutExceptionThe timeout elapsed for the given motor and target position
| oCParameterReadingExceptionThere was an error while reading a parameter from the robot
| oCParameterWritingExceptionThe data you wanted to send to the robot was invalid
| oCPortNotOpenExceptionThe port was not open
| oCReadWriteNotCompleteExceptionThis exception is the base for the WriteNotComplete and ReadNotCompleteException
| |oCReadNotCompleteExceptionThe Katana didn't answer correctly within the given timeout
| |\CWriteNotCompleteExceptionNot all bytes could be written to the serial communication device
| oCSlaveErrorExceptionSlave error occurred
| oCWaitParameterExceptionWait parameter set to false
| oCWrongCRCExceptionCRC check for the answer package failed
| \CWrongParameterExceptionThe given parameter was wrong
oCKNI::KatanaKinematicsThe base class for all kinematic implementations
|oCKNI::KatanaKinematics5M180
|oCKNI::KatanaKinematics6M180
|oCKNI::KatanaKinematics6M90G
|\CKNI::KatanaKinematics6M90T
oCKNI::KinematicParametersTo pass different parameters for the kinematic implementations
oCKNI::KinematicsDefaultEncMinAlgorithm
oCKNI::kmlFactoryThis class is for internal use only It may change at any time It shields the configuration file parsing
oCKNI::KatanaKinematics5M180::position
oCKNI::KatanaKinematics6M90T::position
oCKNI::KatanaKinematics6M90G::position
oCKNI::KatanaKinematics6M180::position
oCTBlendtrace
oCTBLENDtrajectory[LMBLEND] Trajectory points
oCTCdlCOMDescThis structrue stores the attributes for a serial port device
oCTHeaderHeader of a communication packet
oCKNI::TimerProvides a stop-watch-like class with a resolution of milliseconds
oCTKatCBX[CBX] connector box
oCTKatCTB[CTB] command table defined in the firmware
oCTKatECH[ECH] echo
oCTKatEFFInverse Kinematics structure of the endeffektor
oCTKatGNL[GNL] general robot attributes
oCTKatIDS[IDS] identification string
oCTKatMFW[MFW] master firmware version/revision number
oCTKatMOT[MOT] every motor's attributes
oCTKatSCT[SCT] every sens ctrl's attributes
oCTLM_points[LM] linear movement: points to be interpolated
oCTLMtrajectory[LM] linear movement: parameters
oCTMLMIP[LM] Store intermediate targets for multiple linear movements
oCTMotAPS[APS] actual position
oCTMotCLBCalibration structure for single motors
oCTMotDescMotor description (partly)
oCTMotDYL[DYL] dynamic limits
oCTMotENL[ENL] limits in encoder values (INTERNAL STRUCTURE!)
oCTMotGNL[GNL] motor generals
oCTMotInitInitial motor parameters
oCTMotPVP[PVP] position, velocity, pulse width modulation
oCTMotSCP[SCP] static controller parameters
oCTMotSFW[SFW] slave firmware
oCTMotTPS[TPS] target position
oCTPacketCommunication packet
oCTPoint3D
oCTPoint6D[LMBLEND] Standard coordinates for a point in space
oCTSctDAT[DAT] sensor data
oCTSctDescSensor controller description (partly)
oCTSctGNL[GNL] controller generals
oCTSplinepoint
\Cunary_function
 oCKNI_MHF::unary_deg2rad< _T >Function-object version of rad2deg
 oCKNI_MHF::unary_precalc_cos< _T >
 oCKNI_MHF::unary_precalc_sin< _T >Function-object which calculates sinus for n-elements of a container if used together with a STL algorithm
 \CKNI_MHF::unary_rad2deg< _T >Function-object version of rad2deg