#include <ikBase.h>
Inheritance diagram for CikBase:
Public Member Functions | |
CikBase () | |
~CikBase () | |
void | DKApos (double *position) |
Returns the current position of the robot in cartesian coordinates. | |
void | getCoordinates (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true) |
Returns the current position of the robot in cartesian coordinates. | |
void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter) |
Calculates a set of encoders for the given coordinates. | |
void | IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition) |
Calculates a set of encoders for the given coordinates. | |
void | IKGoto (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS) |
Moves to robot to given cartesian coordinates and euler-angles. | |
void | moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
Moves to robot to given cartesian coordinates and euler-angles. | |
void | moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS) |
This method does the same as the one above and is mainly provided for convenience. | |
Private Member Functions | |
void | _initKinematics () |
Private Attributes | |
std::auto_ptr< KNI::KatanaKinematics > | _kinematicsImpl |
bool | _kinematicsIsInitialized |
Definition at line 44 of file ikBase.h.
void CikBase::_initKinematics | ( | ) | [private] |
void CikBase::DKApos | ( | double * | position | ) |
Returns the current position of the robot in cartesian coordinates.
void CikBase::getCoordinates | ( | double & | x, | |
double & | y, | |||
double & | z, | |||
double & | phi, | |||
double & | theta, | |||
double & | psi, | |||
bool | refreshEncoders = true | |||
) |
Returns the current position of the robot in cartesian coordinates.
refreshEncoders | With this parameter you can determine if the method reads the actual encoders from the robot or if it will use the cached ones |
void CikBase::IKCalculate | ( | double | X, | |
double | Y, | |||
double | Z, | |||
double | Al, | |||
double | Be, | |||
double | Ga, | |||
std::vector< int >::iterator | solution_iter, | |||
const std::vector< int > & | actualPosition | |||
) |
Calculates a set of encoders for the given coordinates.
For this method you have to pass an actualPosition too. No communication with the robot will be done here.
void CikBase::IKCalculate | ( | double | X, | |
double | Y, | |||
double | Z, | |||
double | Al, | |||
double | Be, | |||
double | Ga, | |||
std::vector< int >::iterator | solution_iter | |||
) |
Calculates a set of encoders for the given coordinates.
This method reads the current encoders from the robot and involves therefore also communication to the robot
void CikBase::IKGoto | ( | double | X, | |
double | Y, | |||
double | Z, | |||
double | Al, | |||
double | Be, | |||
double | Ga, | |||
bool | wait = false , |
|||
int | tolerance = 100 , |
|||
long | timeout = TM_ENDLESS | |||
) |
Moves to robot to given cartesian coordinates and euler-angles.
void CikBase::moveRobotTo | ( | std::vector< double > | coordinates, | |
bool | waitUntilReached = false , |
|||
int | waitTimeout = TM_ENDLESS | |||
) |
This method does the same as the one above and is mainly provided for convenience.
If the size of the container is smaller than 6, it will throw an exception
void CikBase::moveRobotTo | ( | double | x, | |
double | y, | |||
double | z, | |||
double | phi, | |||
double | theta, | |||
double | psi, | |||
bool | waitUntilReached = false , |
|||
int | waitTimeout = TM_ENDLESS | |||
) |
Moves to robot to given cartesian coordinates and euler-angles.
std::auto_ptr<KNI::KatanaKinematics> CikBase::_kinematicsImpl [private] |
bool CikBase::_kinematicsIsInitialized [private] |