KatanaNativeInterface  $VERSION$
Public Types | Public Member Functions | List of all members
KNI::KatanaKinematics Class Referenceabstract

The base class for all kinematic implementations. More...

#include <KatanaKinematics.h>

Inheritance diagram for KNI::KatanaKinematics:
Inheritance graph
Collaboration diagram for KNI::KatanaKinematics:
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Public Types

typedef std::vector< KinematicParametersparameter_container
 
typedef std::vector< double > angles
 Being used to store angles (in radian). More...
 
typedef std::vector< double > coordinates
 To store coordinates. More...
 
typedef std::vector< double > metrics
 To store metrics, 'aka' the length's of the different segments of the robot. More...
 
typedef std::vector< int > encoders
 To store encoders. More...
 

Public Member Functions

virtual ~KatanaKinematics ()
 
virtual void init (metrics const &length, parameter_container const &parameters)=0
 Initialize the parameters for the calculations. More...
 
virtual void DK (coordinates &solution, encoders const &current_encoders) const =0
 Direct Kinematic. More...
 
virtual void IK (encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0
 Inverse Kinematic. More...
 

Detailed Description

The base class for all kinematic implementations.

Definition at line 81 of file KatanaKinematics.h.

Member Typedef Documentation

◆ angles

typedef std::vector<double> KNI::KatanaKinematics::angles

Being used to store angles (in radian).

Definition at line 89 of file KatanaKinematics.h.

◆ coordinates

typedef std::vector<double> KNI::KatanaKinematics::coordinates

To store coordinates.

Definition at line 92 of file KatanaKinematics.h.

◆ encoders

typedef std::vector<int> KNI::KatanaKinematics::encoders

To store encoders.

Definition at line 98 of file KatanaKinematics.h.

◆ metrics

typedef std::vector<double> KNI::KatanaKinematics::metrics

To store metrics, 'aka' the length's of the different segments of the robot.

Definition at line 95 of file KatanaKinematics.h.

◆ parameter_container

Definition at line 85 of file KatanaKinematics.h.

Constructor & Destructor Documentation

◆ ~KatanaKinematics()

virtual KNI::KatanaKinematics::~KatanaKinematics ( )
inlinevirtual

Definition at line 83 of file KatanaKinematics.h.

Member Function Documentation

◆ DK()

virtual void KNI::KatanaKinematics::DK ( coordinates solution,
encoders const &  current_encoders 
) const
pure virtual

Direct Kinematic.

Calculates the actual position in cartesian coordinates using the given encoders

Parameters
solutionThis is where the algorithm will store the solution to (in cartesian coordinates)
current_encodersThe encoder values which are being used for the calculation
Note
strong guarantee provided

Implemented in KNI::KatanaKinematics6M90T, KNI::KatanaKinematics6M90G, KNI::KatanaKinematics6M180, and KNI::KatanaKinematics5M180.

◆ IK()

virtual void KNI::KatanaKinematics::IK ( encoders::iterator  solution,
coordinates const &  pose,
encoders const &  cur_angles 
) const
pure virtual

Inverse Kinematic.

Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions.

Parameters
solutionThis is where the algorithm will store the solution to (in encoders)
poseThe target position in cartesian coordinates plus the euler angles for the direction of the gripper
cur_anglesThe current angles (in encoders) of the robot
Note
strong guarantee provided

Implemented in KNI::KatanaKinematics6M90T, KNI::KatanaKinematics6M90G, KNI::KatanaKinematics6M180, and KNI::KatanaKinematics5M180.

◆ init()

virtual void KNI::KatanaKinematics::init ( metrics const &  length,
parameter_container const &  parameters 
)
pure virtual

Initialize the parameters for the calculations.

This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type

Implemented in KNI::KatanaKinematics6M90T, KNI::KatanaKinematics6M90G, KNI::KatanaKinematics6M180, and KNI::KatanaKinematics5M180.


The documentation for this class was generated from the following file: