49 void _initKinematics();
53 CikBase() : _kinematicsIsInitialized(false) { };
58 void DKApos(
double* position);
64 void getCoordinates(
double& x,
double& y,
double& z,
double& phi,
double& theta,
double& psi,
bool refreshEncoders =
true);
69 void IKCalculate(
double X,
75 std::vector<int>::iterator solution_iter);
80 void IKCalculate(
double X,
86 std::vector<int>::iterator solution_iter,
87 const std::vector<int>& actualPosition );
103 void moveRobotTo(
double x,
109 bool waitUntilReached =
false,
int waitTimeout =
TM_ENDLESS);
115 void moveRobotTo( std::vector<double> coordinates,
bool waitUntilReached =
false,
int waitTimeout =
TM_ENDLESS);