KatanaNativeInterface
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00001 /* 00002 * Katana Native Interface - A C++ interface to the robot arm Katana. 00003 * Copyright (C) 2005 Neuronics AG 00004 * Check out the AUTHORS file for detailed contact information. 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 */ 00020 00021 /******************************************************************************************************************/ 00022 #ifndef _IKBASE_H_ 00023 #define _IKBASE_H_ 00024 /******************************************************************************************************************/ 00025 00026 #include "common/exception.h" 00027 #include "common/dllexport.h" 00028 00029 #include "KNI/kmlExt.h" 00030 #include "KNI/kmlCommon.h" 00031 00032 #include "KNI_InvKin/KatanaKinematics.h" 00033 00034 #include <vector> 00035 #include <memory> 00036 00037 /******************************************************************************************************************/ 00038 00039 #ifndef TM_ENDLESS 00040 #define TM_ENDLESS -1 //!< timeout symbol for 'endless' waiting 00041 #endif 00042 00043 00044 class DLLDIR_IK CikBase : public CKatana { 00045 00046 private: 00047 std::auto_ptr<KNI::KatanaKinematics> _kinematicsImpl; 00048 bool _kinematicsIsInitialized; 00049 void _initKinematics(); 00050 00051 public: 00052 00053 CikBase() : _kinematicsIsInitialized(false) { }; 00054 ~CikBase() {} 00055 00058 void DKApos(double* position); 00059 00064 void getCoordinates(double& x, double& y, double& z, double& phi, double& theta, double& psi, bool refreshEncoders = true); 00065 00069 void IKCalculate(double X, 00070 double Y, 00071 double Z, 00072 double Al, 00073 double Be, 00074 double Ga, 00075 std::vector<int>::iterator solution_iter); 00076 00080 void IKCalculate(double X, 00081 double Y, 00082 double Z, 00083 double Al, 00084 double Be, 00085 double Ga, 00086 std::vector<int>::iterator solution_iter, 00087 const std::vector<int>& actualPosition ); 00088 00091 void IKGoto(double X, 00092 double Y, 00093 double Z, 00094 double Al, 00095 double Be, 00096 double Ga, 00097 bool wait = false, 00098 int tolerance = 100, 00099 long timeout = TM_ENDLESS); 00100 00103 void moveRobotTo(double x, 00104 double y, 00105 double z, 00106 double phi, 00107 double theta, 00108 double psi, 00109 bool waitUntilReached = false, int waitTimeout = TM_ENDLESS); 00110 00115 void moveRobotTo( std::vector<double> coordinates, bool waitUntilReached = false, int waitTimeout = TM_ENDLESS); 00116 00117 }; 00118 00119 /******************************************************************************************************************/ 00120 #endif //_IKBASE_H_ 00121 /******************************************************************************************************************/