KatanaNativeInterface
$VERSION$
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#include <ikBase.h>
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 |
CikBase::CikBase | ( | ) | [inline] |
CikBase::~CikBase | ( | ) | [inline] |
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 |
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) |
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 | ||
) |
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::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::IKGoto | ( | double | X, |
double | Y, | ||
double | Z, | ||
double | Al, | ||
double | Be, | ||
double | Ga, | ||
bool | wait = false , |
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int | tolerance = 100 , |
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long | timeout = TM_ENDLESS |
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) |
Moves to robot to given cartesian coordinates and euler-angles.
void CikBase::moveRobotTo | ( | double | x, |
double | y, | ||
double | z, | ||
double | phi, | ||
double | theta, | ||
double | psi, | ||
bool | waitUntilReached = false , |
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int | waitTimeout = TM_ENDLESS |
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) |
Moves to robot to given cartesian coordinates and euler-angles.
void CikBase::moveRobotTo | ( | std::vector< double > | coordinates, |
bool | waitUntilReached = false , |
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int | waitTimeout = TM_ENDLESS |
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) |
This method does the same as the one above and is mainly provided for convenience.
std::auto_ptr<KNI::KatanaKinematics> CikBase::_kinematicsImpl [private] |
bool CikBase::_kinematicsIsInitialized [private] |