KatanaNativeInterface  $VERSION$
CLMBase Member List
This is the complete list of members for CLMBase, including all inherited members.
_activatePositionControllerCLMBase [private]
_gripperCloseEncodersCKatana [protected]
_gripperIsPresentCKatana [protected]
_gripperOpenEncodersCKatana [protected]
_isInitializedCLMBase [private]
_maximumVelocityCLMBase [private]
baseCKatana [protected]
blendtrajectoryCLMBase [private]
calcParameters(double *arr_actpos, double *arr_tarpos, double vmax)CLMBase [private]
calibrate()CKatana
calibrate(long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl)CKatana
checkENLD(long idx, double degrees)CKatana
checkJointSpeed(std::vector< int > lastsolution, std::vector< int > solution, double time)CLMBase [private]
CikBase()CikBase [inline]
CKatana()CKatana [inline]
CLMBase()CLMBase [inline]
closeGripper(bool waitUntilReached=false, int waitTimeout=100)CKatana
create(const char *configurationFile, CCplBase *protocol)CKatana
create(KNI::kmlFactory *infos, CCplBase *protocol)CKatana
create(TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol)CKatana
dec(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
decDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
disableCrashLimits()CKatana
DKApos(double *position)CikBase
enableCrashLimits()CKatana
fillPoints(double vmax)CLMBase [private]
freezeMotor(short number)CKatana
freezeRobot()CKatana
getActivatePositionController()CLMBase
GetBase()CKatana [inline]
getCoordinates(double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true)CikBase
getMaximumLinearVelocity() const CLMBase
getMotorAccelerationLimit(short number) const CKatana
getMotorEncoders(short number, bool refreshEncoders=true) const CKatana
getMotorVelocityLimit(short number) const CKatana
getNumberOfMotors() const CKatana
getRobotEncoders(std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const CKatana
getRobotEncoders(bool refreshEncoders=true) const CKatana
IKCalculate(double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter)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)CikBase
IKGoto(double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CikBase
inc(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
incDegrees(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
initLM()CLMBase
mKatanaTypeCKatana [protected]
mov(long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
movDegrees(long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CKatana
moveMotorBy(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)CKatana
moveMotorByEnc(short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)CKatana
moveMotorTo(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)CKatana
moveMotorToEnc(short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)CKatana
moveRobotLinearTo(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)CLMBase
moveRobotLinearTo(std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)CLMBase
moveRobotTo(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)CikBase
moveRobotTo(std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)CikBase
moveRobotToEnc(std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)CKatana
moveRobotToEnc(std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)CKatana
moveRobotToEnc4D(std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100)CKatana
movLM(double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)CLMBase
movLM2P(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)CLMBase
movLM2P4D(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CLMBase
movLM2PwithL(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)CLMBase
openGripper(bool waitUntilReached=false, int waitTimeout=100)CKatana
polCoefficients()CLMBase [private]
polDeviratives()CLMBase [private]
relPosition(double reltime, double distance, double acc, double dec, double vmax)CLMBase [private]
resetTPSP()CKatana
searchMechStop(long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl)CKatana
sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients)CKatana
sendFourSplinesToMotor(unsigned short number, short targetPosition, short duration, short p01, short p11, short p21, short p31, short p02, short p12, short p22, short p32, short p03, short p13, short p23, short p33, short p04, short p14, short p24, short p34)CKatana
sendSplineToMotor(unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)CKatana
sendTPSP(bool wait=false, long timeout=TM_ENDLESS)CKatana
setActivatePositionController(bool activate)CLMBase
setCrashLimit(long idx, int limit)CKatana
setGripperParameters(bool isPresent, int openEncoders, int closeEncoders)CKatana
setMaximumLinearVelocity(double maximumVelocity)CLMBase
setMotorAccelerationLimit(short number, short acceleration)CKatana
setMotorVelocityLimit(short number, short velocity)CKatana
setPositionCollisionLimit(long idx, int limit)CKatana
setRobotAccelerationLimit(short acceleration)CKatana
setRobotVelocityLimit(short velocity)CKatana
setSpeedCollisionLimit(long idx, int limit)CKatana
setTolerance(long idx, int enc_tolerance)CKatana [protected]
setTPSP(long idx, int tar)CKatana
setTPSPDegrees(long idx, double tar)CKatana
splineCoefficients(int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4)CLMBase [private]
startFourSplinesMovement(bool exactflag)CKatana
startSplineMovement(bool exactflag, int moreflag=1)CKatana
switchMotorOff(short number)CKatana
switchMotorOn(short number)CKatana
switchRobotOff()CKatana
switchRobotOn()CKatana
totalTime(double distance, double acc, double dec, double vmax)CLMBase [private]
trajectoryCLMBase [private]
unBlock()CKatana
waitForMotor(short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)CKatana
~CikBase()CikBase [inline]
~CKatana()CKatana [inline]