KatanaNativeInterface  $VERSION$
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
KNI::KatanaKinematics5M180::angles_calc
KNI::KatanaKinematics6M180::angles_calc
KNI::KatanaKinematics6M90G::angles_calc
KNI::KatanaKinematics6M90T::angles_calc
CannotGetSetPortAttributesExceptionCould not set or get the attributes for the given serial communication device
CannotOpenPortExceptionFailed to open the serial communication device
CCdlBaseAbstract base class for devices
CCdlCOMEncapsulates the serial port device
CCdlSocketEncapsulates the socket communication device
CCplBaseAbstract base class for protocol definiton
CCplSerialBase class of two different serial protocols
CCplSerialCRCImplement the Serial-Zero protocol
CikBase
CKatanaExtended Katana class with additional functions
CKatBaseBase Katana class
CLMBaseLinear movement Class
CMotBaseMotor class
ConfigFileEntryNotFoundExceptionThe requested entry could not be found
ConfigFileOpenExceptionAccessing the given configuration file failed (may be: access denied or wrong path)
ConfigFileSectionNotFoundExceptionThe requested section could not be found
ConfigFileStateExceptionThe state of the configuration file wasn't "good"
ConfigFileSubsectionNotFoundExceptionThe requested subsection could not be found
ConfigFileSyntaxErrorExceptionThere was a syntax error in the configuration file
Context
CSctBaseSensor Controller class
DeviceReadExceptionReading from the serial communication device failed
DeviceWriteExceptionWriting to the serial communication device failed
ErrorExceptionThe Katana returned an error string
Exception
FirmwareExceptionException reported by the firmware
JointSpeedExceptionJoint speed too high
KNI::KatanaKinematicsThe base class for all kinematic implementations
KNI::KatanaKinematics5M180
KNI::KatanaKinematics6M180
KNI::KatanaKinematics6M90G
KNI::KatanaKinematics6M90T
KNI::KinematicParametersTo pass different parameters for the kinematic implementations
KNI::KinematicsDefaultEncMinAlgorithm
KNI::kmlFactoryThis class is for internal use only It may change at any time It shields the configuration file parsing
MotorCrashExceptionThe requested motor crashed during the movement
MotorOutOfRangeExceptionThe encoders for the given motor were out of range
MotorTimeoutExceptionThe timeout elapsed for the given motor and target position
KNI::NoSolutionExceptionNo solution found for the given cartesian coordinates
ParameterReadingExceptionThere was an error while reading a parameter from the robot
ParameterWritingExceptionThe data you wanted to send to the robot was invalid
PortNotOpenExceptionThe port was not open
KNI::KatanaKinematics6M180::position
KNI::KatanaKinematics6M90T::position
KNI::KatanaKinematics6M90G::position
KNI::KatanaKinematics5M180::position
ReadNotCompleteExceptionThe Katana didn't answer correctly within the given timeout
ReadWriteNotCompleteExceptionThis exception is the base for the WriteNotComplete and ReadNotCompleteException
SlaveErrorExceptionSlave error occurred
TBlendtrace
TBLENDtrajectory[LMBLEND] Trajectory points
TCdlCOMDescThis structrue stores the attributes for a serial port device
THeaderHeader of a communication packet
KNI::TimerProvides a stop-watch-like class with a resolution of milliseconds
TKatCBX[CBX] connector box
TKatCTB[CTB] command table defined in the firmware
TKatECH[ECH] echo
TKatEFFInverse Kinematics structure of the endeffektor
TKatGNL[GNL] general robot attributes
TKatIDS[IDS] identification string
TKatMFW[MFW] master firmware version/revision number
TKatMOT[MOT] every motor's attributes
TKatSCT[SCT] every sens ctrl's attributes
TLM_points[LM] linear movement: points to be interpolated
TLMtrajectory[LM] linear movement: parameters
TMLMIP[LM] Store intermediate targets for multiple linear movements
TMotAPS[APS] actual position
TMotCLBCalibration structure for single motors
TMotDescMotor description (partly)
TMotDYL[DYL] dynamic limits
TMotENL[ENL] limits in encoder values (INTERNAL STRUCTURE!)
TMotGNL[GNL] motor generals
TMotInitInitial motor parameters
TMotPVP[PVP] position, velocity, pulse width modulation
TMotSCP[SCP] static controller parameters
TMotSFW[SFW] slave firmware
TMotTPS[TPS] target position
TPacketCommunication packet
TPoint3D
TPoint6D[LMBLEND] Standard coordinates for a point in space
TSctDAT[DAT] sensor data
TSctDescSensor controller description (partly)
TSctGNL[GNL] controller generals
TSplinepoint
KNI_MHF::unary_deg2rad< _T >Function-object version of rad2deg
KNI_MHF::unary_precalc_cos< _T >
KNI_MHF::unary_precalc_sin< _T >Function-object which calculates sinus for n-elements of a container if used together with a STL algorithm
KNI_MHF::unary_rad2deg< _T >Function-object version of rad2deg
WaitParameterExceptionWait parameter set to false
WriteNotCompleteExceptionNot all bytes could be written to the serial communication device
WrongCRCExceptionCRC check for the answer package failed
WrongParameterExceptionThe given parameter was wrong