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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>CKatBase Class Reference</h1> </div>
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<p>Base Katana class.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>></code></p>
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Collaboration diagram for CKatBase:</div>
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<area shape="rect" id="node12" href="structTSctGNL.html" title="[GNL] controller generals" alt="" coords="608,1409,685,1529"/><area shape="rect" id="node39" href="structTMotGNL.html" title="[GNL] motor generals" alt="" coords="709,1418,787,1521"/><area shape="rect" id="node2" href="structTKatMFW.html" title="[MFW] master firmware version/revision number" alt="" coords="5,227,88,330"/><area shape="rect" id="node4" href="structTKatCBX.html" title="[CBX] connector box" alt="" coords="112,227,189,330"/><area shape="rect" id="node6" href="structTKatSCT.html" title="[SCT] every sens ctrl's attributes" alt="" coords="343,2989,420,3109"/><area shape="rect" id="node8" href="structTSctDesc.html" title="sensor controller description (partly)" alt="" coords="331,2221,432,2341"/><area shape="rect" id="node10" href="classCSctBase.html" title="Sensor Controller class." alt="" coords="536,2187,645,2376"/><area shape="rect" id="node15" href="structTSctDAT.html" title="[DAT] sensor data" alt="" coords="507,1418,584,1521"/><area shape="rect" id="node17" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="771,193,925,365"/><area shape="rect" id="node33" href="classCMotBase.html" title="Motor class." alt="" coords="1205,1641,1395,2922"/><area shape="rect" id="node19" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="793,5,903,125"/><area shape="rect" id="node21" href="structTKatCTB.html" title="[CTB] command table defined in the firmware" alt="" coords="213,236,291,321"/><area shape="rect" id="node23" href="structTKatECH.html" title="[ECH] echo" alt="" coords="315,236,392,321"/><area shape="rect" id="node25" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor." alt="" coords="416,236,523,321"/><area shape="rect" id="node27" href="structTKatGNL.html" title="[GNL] general robot attributes" alt="" coords="547,227,651,330"/><area shape="rect" id="node29" href="structTKatMOT.html" title="[MOT] every motor's attributes" alt="" coords="887,2989,964,3109"/><area shape="rect" id="node31" href="structTMotDesc.html" title="motor description (partly)" alt="" coords="884,2239,967,2324"/><area shape="rect" id="node35" href="structTMotENL.html" title="[ENL] limits in encoder values (INTERNAL STRUCTURE!)" alt="" coords="861,1392,979,1547"/><area shape="rect" id="node37" href="structTMotSFW.html" title="[SFW] slave firmware" alt="" coords="1003,1392,1099,1547"/><area shape="rect" id="node42" href="structTMotInit.html" title="Initial motor parameters." alt="" coords="1173,1383,1315,1555"/><area shape="rect" id="node44" href="structTMotCLB.html" title="Calibration structure for single motors." alt="" coords="1408,1366,1563,1573"/><area shape="rect" id="node46" href="structTMotSCP.html" title="[SCP] static controller parameters" alt="" coords="1308,693,1457,1038"/><area shape="rect" id="node48" href="structTMotDYL.html" title="[DYL] dynamic limits" alt="" coords="1523,736,1656,995"/><area shape="rect" id="node50" href="structTMotPVP.html" title="[PVP] position, velocity, pulse width modulation" alt="" coords="1652,1401,1729,1538"/><area shape="rect" id="node52" href="structTMotAPS.html" title="[APS] actual position" alt="" coords="1753,1418,1836,1521"/><area shape="rect" id="node55" href="structTMotTPS.html" title="[TPS] target position" alt="" coords="1860,1418,1943,1521"/><area shape="rect" id="node59" href="structTKatIDS.html" title="[IDS] identification string" alt="" coords="675,236,747,321"/></map>
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<p><a href="classCKatBase-members.html">List of all members.</a></p>
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<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatGNL.html">TKatGNL</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a78b2490301671c3256f8cd7fdd1534cf">GetGNL</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#a78b2490301671c3256f8cd7fdd1534cf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatMFW.html">TKatMFW</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a7b9139f3bee99c9946f142f4b64bda94">GetMFW</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#a7b9139f3bee99c9946f142f4b64bda94"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatIDS.html">TKatIDS</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a6ad3b67946eefff6b49768710c1da49a">GetIDS</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#a6ad3b67946eefff6b49768710c1da49a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatCTB.html">TKatCTB</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a12da99ac4d5175e9c58a187963611ca1">GetCTB</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#a12da99ac4d5175e9c58a187963611ca1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatCBX.html">TKatCBX</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#adaf194f13f9a2bb8e3013da4e776f651">GetCBX</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#adaf194f13f9a2bb8e3013da4e776f651"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatECH.html">TKatECH</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ac3d431cb58094af3944c113a74c5828b">GetECH</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#ac3d431cb58094af3944c113a74c5828b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatMOT.html">TKatMOT</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aaa2da92e850dcf13de716713c9cb5155">GetMOT</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#aaa2da92e850dcf13de716713c9cb5155"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">const <a class="el" href="structTKatSCT.html">TKatSCT</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ad73954c98187f318489ca5a38d4766e3">GetSCT</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#ad73954c98187f318489ca5a38d4766e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatEFF.html">TKatEFF</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a48a553c13a45a336859477675643f44f">GetEFF</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get a pointer to the desired structure. <a href="#a48a553c13a45a336859477675643f44f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aa313254302494d3ba7c69cfeea7d9023">CKatBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ad512d6857264c7fecdefd6968814cb05">~CKatBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">destructor <a href="#ad512d6857264c7fecdefd6968814cb05"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a73d003579561bb2a91d043362b8568c7">init</a> (const <a class="el" href="structTKatGNL.html">TKatGNL</a> _gnl, const <a class="el" href="structTKatMOT.html">TKatMOT</a> _mot, const <a class="el" href="structTKatSCT.html">TKatSCT</a> _sct, const <a class="el" href="structTKatEFF.html">TKatEFF</a> _eff, <a class="el" href="classCCplBase.html">CCplBase</a> *_protocol)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a6bf7595300ef6d2282da34e3a7ae224c">recvMFW</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a6bf7595300ef6d2282da34e3a7ae224c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ab3b28802143acbb52c40a3d92bfe97db">recvIDS</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#ab3b28802143acbb52c40a3d92bfe97db"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ae54f314865d7c7041e9475891bd31df5">recvCTB</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#ae54f314865d7c7041e9475891bd31df5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a3a84cf93bc8c811d0701bdfd5a2ff6a5">recvGMS</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a3a84cf93bc8c811d0701bdfd5a2ff6a5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a76ab67c6df2d6ce84bff2293e9fbff9f">recvCBX</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#a76ab67c6df2d6ce84bff2293e9fbff9f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#abf31172cf542538b376ef104384b39d9">recvECH</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#abf31172cf542538b376ef104384b39d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ac08d15fcc5ee2be91eb7235d8559e107">recvNMP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">receive data <a href="#ac08d15fcc5ee2be91eb7235d8559e107"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a57b08c285923808ae26c6ee67f0c6d4c">recvMPS</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">read all motor positions simultaneously <a href="#a57b08c285923808ae26c6ee67f0c6d4c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCCplBase.html">CCplBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ab86bbbca447f63b83b88b332315cb981">getProtocol</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">get a handle of the protocol, used in <a class="el" href="classCKatana.html" title="Extended Katana class with additional functions.">CKatana</a> <a href="#ab86bbbca447f63b83b88b332315cb981"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aeee1ca89c2d69e49369faf25b498e94b">checkKatanaType</a> (int type)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">checks for a K300 or K400 <a href="#aeee1ca89c2d69e49369faf25b498e94b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a4f1bae9cfb69a8b60f1b21f7c0039a7e">sendCBX</a> (const <a class="el" href="structTKatCBX.html">TKatCBX</a> *_cbx)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">send data <a href="#a4f1bae9cfb69a8b60f1b21f7c0039a7e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a7bc0881f6f92abe36ae3c1bd87eafcbc">sendTPSP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">parallel movements <a href="#a7bc0881f6f92abe36ae3c1bd87eafcbc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aff112c1f7d5bd6a77ae25d33b72d3a4f">getMasterFirmware</a> (short *fw, short *rev)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the master firmware of the robot we are communicating with. <a href="#aff112c1f7d5bd6a77ae25d33b72d3a4f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a7e9d8e56233f190456bae8b32c2d087c">enableCrashLimits</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">crash limits enable <a href="#a7e9d8e56233f190456bae8b32c2d087c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aa1db4609f688a931b854a1487516dc6b">disableCrashLimits</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">crash limits disable <a href="#aa1db4609f688a931b854a1487516dc6b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a81b5c4b3bb32e2724852dd0c78eecbbf">unBlock</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">unblock robot after a crash <a href="#a81b5c4b3bb32e2724852dd0c78eecbbf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a250a1c948e984f721e8c35bd099c0cd2">setCrashLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set collision limits <a href="#a250a1c948e984f721e8c35bd099c0cd2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a515ecede8c1a63d47c83ada865194a28">setPositionCollisionLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set collision position limits <a href="#a515ecede8c1a63d47c83ada865194a28"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ae9ea9bb46243d7c59aeed6c3b0c87a0d">setSpeedCollisionLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set collision speed limits <a href="#ae9ea9bb46243d7c59aeed6c3b0c87a0d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#acc46c3da41b203e4266186cda4bbe48c">startSplineMovement</a> (bool exactflag, int moreflag=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start a spline movement. <a href="#acc46c3da41b203e4266186cda4bbe48c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a5b5f7b8eeb50f5efb78ada3b9d92a80d">startFourSplinesMovement</a> (bool exactflag)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start a fourSplines movement. <a href="#a5b5f7b8eeb50f5efb78ada3b9d92a80d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a71d54e5c5229faadcc8a2e6eb42a0112">sendSLMP</a> (<a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> *p)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">linear movements <a href="#a71d54e5c5229faadcc8a2e6eb42a0112"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#aa3a0ab66b2f2f7b7d5b3a6997f7708a4">sendSLM</a> (bool exactflag)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">linear movements <a href="#aa3a0ab66b2f2f7b7d5b3a6997f7708a4"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatGNL.html">TKatGNL</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ac07e59aae6f45d186b9c17cf5dd18c9c">gnl</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">katana general <a href="#ac07e59aae6f45d186b9c17cf5dd18c9c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatMFW.html">TKatMFW</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a02e1e320ed6d15b011db980dbe36db9f">mfw</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">master's firmware version/revision <a href="#a02e1e320ed6d15b011db980dbe36db9f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatIDS.html">TKatIDS</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ac007c364aca3be184eb0b84689e37f49">ids</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">ID string. <a href="#ac007c364aca3be184eb0b84689e37f49"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatCTB.html">TKatCTB</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a9595010a99623cbfde0468d80485e976">ctb</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">cmd table <a href="#a9595010a99623cbfde0468d80485e976"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatCBX.html">TKatCBX</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a0dc353534ad2ea7131b59648888a4aa1">cbx</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">connector box <a href="#a0dc353534ad2ea7131b59648888a4aa1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatECH.html">TKatECH</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a808298df29ee9f42aee3947fc293d5a5">ech</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">echo <a href="#a808298df29ee9f42aee3947fc293d5a5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatMOT.html">TKatMOT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a8e0deadb88fe9da2d61efda7a7d9805a">mot</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">motors <a href="#a8e0deadb88fe9da2d61efda7a7d9805a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatSCT.html">TKatSCT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a2a003325e068a8519605881eb5978074">sct</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">sensor controllers <a href="#a2a003325e068a8519605881eb5978074"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTKatEFF.html">TKatEFF</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#afa64b06ab51e5f961ad304ee0c5ada66">eff</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">end effector <a href="#afa64b06ab51e5f961ad304ee0c5ada66"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classCCplBase.html">CCplBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#afc5f8ed4cd2793a9b839ccbbf4e72a4a">protocol</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">protocol interface <a href="#afc5f8ed4cd2793a9b839ccbbf4e72a4a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#a7eb00424ba72a2a4c508220a569825e2">mMasterVersion</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">master version of robot we are communicating with <a href="#a7eb00424ba72a2a4c508220a569825e2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatBase.html#ad68968ee90f62ec6cf4dd81bbdeca1c6">mMasterRevision</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">master firmware revision <a href="#ad68968ee90f62ec6cf4dd81bbdeca1c6"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Base Katana class. </p>
<p>This class is the main object controlling the whole katana; to use it, it has to be initilized by using it's init function; those function expects a initilized protocol class, which in turn expects an initilized device! after the initialization, it does not mean that the coordinates (encoder values) of the motors have been set correctly; for that a calibration is needen; that calibration can be executed either by using the <a class="el" href="classCKatana.html" title="Extended Katana class with additional functions.">CKatana</a> class in the 'kmlExt' module (which encapsulates this class) or by writing your own calibrations function.. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00132">132</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="aa313254302494d3ba7c69cfeea7d9023"></a><!-- doxytag: member="CKatBase::CKatBase" ref="aa313254302494d3ba7c69cfeea7d9023" args="()" -->
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<td class="memname">CKatBase::CKatBase </td>
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<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00172">172</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="ad512d6857264c7fecdefd6968814cb05"></a><!-- doxytag: member="CKatBase::~CKatBase" ref="ad512d6857264c7fecdefd6968814cb05" args="()" -->
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<td class="memname">virtual CKatBase::~CKatBase </td>
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<td><code> [inline, virtual]</code></td>
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<p>destructor </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00175">175</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aeee1ca89c2d69e49369faf25b498e94b"></a><!-- doxytag: member="CKatBase::checkKatanaType" ref="aeee1ca89c2d69e49369faf25b498e94b" args="(int type)" -->
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<td class="memname">int CKatBase::checkKatanaType </td>
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<td class="paramname"><em>type</em></td><td>)</td>
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<p>checks for a K300 or K400 </p>
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<a class="anchor" id="aa1db4609f688a931b854a1487516dc6b"></a><!-- doxytag: member="CKatBase::disableCrashLimits" ref="aa1db4609f688a931b854a1487516dc6b" args="()" -->
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<td class="memname">void CKatBase::disableCrashLimits </td>
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<p>crash limits disable </p>
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<a class="anchor" id="a7e9d8e56233f190456bae8b32c2d087c"></a><!-- doxytag: member="CKatBase::enableCrashLimits" ref="a7e9d8e56233f190456bae8b32c2d087c" args="()" -->
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<td class="memname">void CKatBase::enableCrashLimits </td>
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<p>crash limits enable </p>
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<a class="anchor" id="adaf194f13f9a2bb8e3013da4e776f651"></a><!-- doxytag: member="CKatBase::GetCBX" ref="adaf194f13f9a2bb8e3013da4e776f651" args="()" -->
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<td class="memname">const <a class="el" href="structTKatCBX.html">TKatCBX</a>* CKatBase::GetCBX </td>
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<td><code> [inline]</code></td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00160">160</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="a12da99ac4d5175e9c58a187963611ca1"></a><!-- doxytag: member="CKatBase::GetCTB" ref="a12da99ac4d5175e9c58a187963611ca1" args="()" -->
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<td class="memname">const <a class="el" href="structTKatCTB.html">TKatCTB</a>* CKatBase::GetCTB </td>
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<td><code> [inline]</code></td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00158">158</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="ac3d431cb58094af3944c113a74c5828b"></a><!-- doxytag: member="CKatBase::GetECH" ref="ac3d431cb58094af3944c113a74c5828b" args="()" -->
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<td class="memname">const <a class="el" href="structTKatECH.html">TKatECH</a>* CKatBase::GetECH </td>
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<td><code> [inline]</code></td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00162">162</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="a48a553c13a45a336859477675643f44f"></a><!-- doxytag: member="CKatBase::GetEFF" ref="a48a553c13a45a336859477675643f44f" args="()" -->
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<td class="memname"><a class="el" href="structTKatEFF.html">TKatEFF</a>* CKatBase::GetEFF </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00169">169</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="a78b2490301671c3256f8cd7fdd1534cf"></a><!-- doxytag: member="CKatBase::GetGNL" ref="a78b2490301671c3256f8cd7fdd1534cf" args="()" -->
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<td class="memname">const <a class="el" href="structTKatGNL.html">TKatGNL</a>* CKatBase::GetGNL </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00152">152</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="a6ad3b67946eefff6b49768710c1da49a"></a><!-- doxytag: member="CKatBase::GetIDS" ref="a6ad3b67946eefff6b49768710c1da49a" args="()" -->
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<td class="memname">const <a class="el" href="structTKatIDS.html">TKatIDS</a>* CKatBase::GetIDS </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00156">156</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="aff112c1f7d5bd6a77ae25d33b72d3a4f"></a><!-- doxytag: member="CKatBase::getMasterFirmware" ref="aff112c1f7d5bd6a77ae25d33b72d3a4f" args="(short *fw, short *rev)" -->
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<td class="paramtype">short * </td>
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<p>Get the master firmware of the robot we are communicating with. </p>
<p>Get master firmware read at initialization time. </p>
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<a class="anchor" id="a7b9139f3bee99c9946f142f4b64bda94"></a><!-- doxytag: member="CKatBase::GetMFW" ref="a7b9139f3bee99c9946f142f4b64bda94" args="()" -->
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<td class="memname">const <a class="el" href="structTKatMFW.html">TKatMFW</a>* CKatBase::GetMFW </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00154">154</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="aaa2da92e850dcf13de716713c9cb5155"></a><!-- doxytag: member="CKatBase::GetMOT" ref="aaa2da92e850dcf13de716713c9cb5155" args="()" -->
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<td class="memname">const <a class="el" href="structTKatMOT.html">TKatMOT</a>* CKatBase::GetMOT </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00165">165</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="ab86bbbca447f63b83b88b332315cb981"></a><!-- doxytag: member="CKatBase::getProtocol" ref="ab86bbbca447f63b83b88b332315cb981" args="()" -->
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<td class="memname"><a class="el" href="classCCplBase.html">CCplBase</a>* CKatBase::getProtocol </td>
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<p>get a handle of the protocol, used in <a class="el" href="classCKatana.html" title="Extended Katana class with additional functions.">CKatana</a> </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00202">202</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="ad73954c98187f318489ca5a38d4766e3"></a><!-- doxytag: member="CKatBase::GetSCT" ref="ad73954c98187f318489ca5a38d4766e3" args="()" -->
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<td class="memname">const <a class="el" href="structTKatSCT.html">TKatSCT</a>* CKatBase::GetSCT </td>
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<p>Get a pointer to the desired structure. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00167">167</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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<a class="anchor" id="a73d003579561bb2a91d043362b8568c7"></a><!-- doxytag: member="CKatBase::init" ref="a73d003579561bb2a91d043362b8568c7" args="(const TKatGNL _gnl, const TKatMOT _mot, const TKatSCT _sct, const TKatEFF _eff, CCplBase *_protocol)" -->
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<td class="paramname"><em>_gnl</em>, </td>
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<td class="paramname"><em>_protocol</em> </td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">_gnl</td><td>general attributes </td></tr>
<tr><td class="paramname">_mot</td><td>motor attributes </td></tr>
<tr><td class="paramname">_sct</td><td>sensor controller attributes </td></tr>
<tr><td class="paramname">_eff</td><td>end effector attributes </td></tr>
<tr><td class="paramname">_protocol</td><td>desired protocol </td></tr>
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<a class="anchor" id="a76ab67c6df2d6ce84bff2293e9fbff9f"></a><!-- doxytag: member="CKatBase::recvCBX" ref="a76ab67c6df2d6ce84bff2293e9fbff9f" args="()" -->
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<td class="memname">void CKatBase::recvCBX </td>
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<p>receive data </p>
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<a class="anchor" id="ae54f314865d7c7041e9475891bd31df5"></a><!-- doxytag: member="CKatBase::recvCTB" ref="ae54f314865d7c7041e9475891bd31df5" args="()" -->
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<p>receive data </p>
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<a class="anchor" id="abf31172cf542538b376ef104384b39d9"></a><!-- doxytag: member="CKatBase::recvECH" ref="abf31172cf542538b376ef104384b39d9" args="()" -->
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<td class="memname">void CKatBase::recvECH </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a3a84cf93bc8c811d0701bdfd5a2ff6a5"></a><!-- doxytag: member="CKatBase::recvGMS" ref="a3a84cf93bc8c811d0701bdfd5a2ff6a5" args="()" -->
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<td class="memname">void CKatBase::recvGMS </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="ab3b28802143acbb52c40a3d92bfe97db"></a><!-- doxytag: member="CKatBase::recvIDS" ref="ab3b28802143acbb52c40a3d92bfe97db" args="()" -->
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<div class="memproto">
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<td class="memname">void CKatBase::recvIDS </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a6bf7595300ef6d2282da34e3a7ae224c"></a><!-- doxytag: member="CKatBase::recvMFW" ref="a6bf7595300ef6d2282da34e3a7ae224c" args="()" -->
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<div class="memproto">
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<td class="memname">void CKatBase::recvMFW </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a57b08c285923808ae26c6ee67f0c6d4c"></a><!-- doxytag: member="CKatBase::recvMPS" ref="a57b08c285923808ae26c6ee67f0c6d4c" args="()" -->
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<div class="memproto">
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<td class="memname">void CKatBase::recvMPS </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>read all motor positions simultaneously </p>
</div>
</div>
<a class="anchor" id="ac08d15fcc5ee2be91eb7235d8559e107"></a><!-- doxytag: member="CKatBase::recvNMP" ref="ac08d15fcc5ee2be91eb7235d8559e107" args="()" -->
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<div class="memproto">
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<td class="memname">void CKatBase::recvNMP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>receive data </p>
</div>
</div>
<a class="anchor" id="a4f1bae9cfb69a8b60f1b21f7c0039a7e"></a><!-- doxytag: member="CKatBase::sendCBX" ref="a4f1bae9cfb69a8b60f1b21f7c0039a7e" args="(const TKatCBX *_cbx)" -->
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void CKatBase::sendCBX </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structTKatCBX.html">TKatCBX</a> * </td>
<td class="paramname"><em>_cbx</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>send data </p>
</div>
</div>
<a class="anchor" id="aa3a0ab66b2f2f7b7d5b3a6997f7708a4"></a><!-- doxytag: member="CKatBase::sendSLM" ref="aa3a0ab66b2f2f7b7d5b3a6997f7708a4" args="(bool exactflag)" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">void CKatBase::sendSLM </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>exactflag</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>linear movements </p>
</div>
</div>
<a class="anchor" id="a71d54e5c5229faadcc8a2e6eb42a0112"></a><!-- doxytag: member="CKatBase::sendSLMP" ref="a71d54e5c5229faadcc8a2e6eb42a0112" args="(byte *p)" -->
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<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void CKatBase::sendSLMP </td>
<td>(</td>
<td class="paramtype"><a class="el" href="cdlBase_8h.html#a0c8186d9b9b7880309c27230bbb5e69d">byte</a> * </td>
<td class="paramname"><em>p</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>linear movements </p>
</div>
</div>
<a class="anchor" id="a7bc0881f6f92abe36ae3c1bd87eafcbc"></a><!-- doxytag: member="CKatBase::sendTPSP" ref="a7bc0881f6f92abe36ae3c1bd87eafcbc" args="()" -->
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<td class="memname">void CKatBase::sendTPSP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>parallel movements </p>
<p>deprecated: for use with old Katana5M only </p>
</div>
</div>
<a class="anchor" id="a250a1c948e984f721e8c35bd099c0cd2"></a><!-- doxytag: member="CKatBase::setCrashLimit" ref="a250a1c948e984f721e8c35bd099c0cd2" args="(long idx, int limit)" -->
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<td class="memname">void CKatBase::setCrashLimit </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>set collision limits </p>
<p>//deprecated, use speed & position </p>
</div>
</div>
<a class="anchor" id="a515ecede8c1a63d47c83ada865194a28"></a><!-- doxytag: member="CKatBase::setPositionCollisionLimit" ref="a515ecede8c1a63d47c83ada865194a28" args="(long idx, int limit)" -->
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<td class="memname">void CKatBase::setPositionCollisionLimit </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>set collision position limits </p>
</div>
</div>
<a class="anchor" id="ae9ea9bb46243d7c59aeed6c3b0c87a0d"></a><!-- doxytag: member="CKatBase::setSpeedCollisionLimit" ref="ae9ea9bb46243d7c59aeed6c3b0c87a0d" args="(long idx, int limit)" -->
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<td class="memname">void CKatBase::setSpeedCollisionLimit </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>limit</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>set collision speed limits </p>
</div>
</div>
<a class="anchor" id="a5b5f7b8eeb50f5efb78ada3b9d92a80d"></a><!-- doxytag: member="CKatBase::startFourSplinesMovement" ref="a5b5f7b8eeb50f5efb78ada3b9d92a80d" args="(bool exactflag)" -->
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<td class="memname">void CKatBase::startFourSplinesMovement </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>exactflag</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Start a fourSplines movement. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">exactflag</td><td>Set it to true if you want the position controller activated after the movement </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="acc46c3da41b203e4266186cda4bbe48c"></a><!-- doxytag: member="CKatBase::startSplineMovement" ref="acc46c3da41b203e4266186cda4bbe48c" args="(bool exactflag, int moreflag=1)" -->
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<td class="memname">void CKatBase::startSplineMovement </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>exactflag</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>moreflag</em> = <code>1</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Start a spline movement. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">exactflag</td><td>Set it to true if you want the position controller activated after the movement </td></tr>
<tr><td class="paramname">moreflag</td><td>0 = start moving more following, 1 = last or a single polynomial movement, 2 = do not start moving yet more following </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a81b5c4b3bb32e2724852dd0c78eecbbf"></a><!-- doxytag: member="CKatBase::unBlock" ref="a81b5c4b3bb32e2724852dd0c78eecbbf" args="()" -->
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<td class="memname">void CKatBase::unBlock </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>unblock robot after a crash </p>
</div>
</div>
<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a0dc353534ad2ea7131b59648888a4aa1"></a><!-- doxytag: member="CKatBase::cbx" ref="a0dc353534ad2ea7131b59648888a4aa1" args="" -->
<div class="memitem">
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<table class="memname">
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<td class="memname"><a class="el" href="structTKatCBX.html">TKatCBX</a> <a class="el" href="classCKatBase.html#a0dc353534ad2ea7131b59648888a4aa1">CKatBase::cbx</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>connector box </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00139">139</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a9595010a99623cbfde0468d80485e976"></a><!-- doxytag: member="CKatBase::ctb" ref="a9595010a99623cbfde0468d80485e976" args="" -->
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<td class="memname"><a class="el" href="structTKatCTB.html">TKatCTB</a> <a class="el" href="classCKatBase.html#a9595010a99623cbfde0468d80485e976">CKatBase::ctb</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>cmd table </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00138">138</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a808298df29ee9f42aee3947fc293d5a5"></a><!-- doxytag: member="CKatBase::ech" ref="a808298df29ee9f42aee3947fc293d5a5" args="" -->
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<td class="memname"><a class="el" href="structTKatECH.html">TKatECH</a> <a class="el" href="classCKatBase.html#a808298df29ee9f42aee3947fc293d5a5">CKatBase::ech</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>echo </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00140">140</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="afa64b06ab51e5f961ad304ee0c5ada66"></a><!-- doxytag: member="CKatBase::eff" ref="afa64b06ab51e5f961ad304ee0c5ada66" args="" -->
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<td class="memname"><a class="el" href="structTKatEFF.html">TKatEFF</a> <a class="el" href="classCKatBase.html#afa64b06ab51e5f961ad304ee0c5ada66">CKatBase::eff</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>end effector </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00144">144</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="ac07e59aae6f45d186b9c17cf5dd18c9c"></a><!-- doxytag: member="CKatBase::gnl" ref="ac07e59aae6f45d186b9c17cf5dd18c9c" args="" -->
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<td class="memname"><a class="el" href="structTKatGNL.html">TKatGNL</a> <a class="el" href="classCKatBase.html#ac07e59aae6f45d186b9c17cf5dd18c9c">CKatBase::gnl</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>katana general </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00135">135</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
<p>Referenced by <a class="el" href="kmlSctBase_8h_source.html#l00081">CSctBase::GetGNL()</a>, and <a class="el" href="kmlMotBase_8h_source.html#l00241">CMotBase::GetGNL()</a>.</p>
</div>
</div>
<a class="anchor" id="ac007c364aca3be184eb0b84689e37f49"></a><!-- doxytag: member="CKatBase::ids" ref="ac007c364aca3be184eb0b84689e37f49" args="" -->
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<td class="memname"><a class="el" href="structTKatIDS.html">TKatIDS</a> <a class="el" href="classCKatBase.html#ac007c364aca3be184eb0b84689e37f49">CKatBase::ids</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>ID string. </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00137">137</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a02e1e320ed6d15b011db980dbe36db9f"></a><!-- doxytag: member="CKatBase::mfw" ref="a02e1e320ed6d15b011db980dbe36db9f" args="" -->
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<td class="memname"><a class="el" href="structTKatMFW.html">TKatMFW</a> <a class="el" href="classCKatBase.html#a02e1e320ed6d15b011db980dbe36db9f">CKatBase::mfw</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>master's firmware version/revision </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00136">136</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
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</div>
<a class="anchor" id="ad68968ee90f62ec6cf4dd81bbdeca1c6"></a><!-- doxytag: member="CKatBase::mMasterRevision" ref="ad68968ee90f62ec6cf4dd81bbdeca1c6" args="" -->
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<td class="memname">short <a class="el" href="classCKatBase.html#ad68968ee90f62ec6cf4dd81bbdeca1c6">CKatBase::mMasterRevision</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>master firmware revision </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00148">148</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a7eb00424ba72a2a4c508220a569825e2"></a><!-- doxytag: member="CKatBase::mMasterVersion" ref="a7eb00424ba72a2a4c508220a569825e2" args="" -->
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<td class="memname">short <a class="el" href="classCKatBase.html#a7eb00424ba72a2a4c508220a569825e2">CKatBase::mMasterVersion</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>master version of robot we are communicating with </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00147">147</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a8e0deadb88fe9da2d61efda7a7d9805a"></a><!-- doxytag: member="CKatBase::mot" ref="a8e0deadb88fe9da2d61efda7a7d9805a" args="" -->
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<td class="memname"><a class="el" href="structTKatMOT.html">TKatMOT</a> <a class="el" href="classCKatBase.html#a8e0deadb88fe9da2d61efda7a7d9805a">CKatBase::mot</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>motors </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00142">142</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="afc5f8ed4cd2793a9b839ccbbf4e72a4a"></a><!-- doxytag: member="CKatBase::protocol" ref="afc5f8ed4cd2793a9b839ccbbf4e72a4a" args="" -->
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<td class="memname"><a class="el" href="classCCplBase.html">CCplBase</a>* <a class="el" href="classCKatBase.html#afc5f8ed4cd2793a9b839ccbbf4e72a4a">CKatBase::protocol</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>protocol interface </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00146">146</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<a class="anchor" id="a2a003325e068a8519605881eb5978074"></a><!-- doxytag: member="CKatBase::sct" ref="a2a003325e068a8519605881eb5978074" args="" -->
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<td class="memname"><a class="el" href="structTKatSCT.html">TKatSCT</a> <a class="el" href="classCKatBase.html#a2a003325e068a8519605881eb5978074">CKatBase::sct</a><code> [protected]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>sensor controllers </p>
<p>Definition at line <a class="el" href="kmlBase_8h_source.html#l00143">143</a> of file <a class="el" href="kmlBase_8h_source.html">kmlBase.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="kmlBase_8h_source.html">kmlBase.h</a></li>
</ul>
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="classCKatBase.html">CKatBase</a> </li>
<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/></a> 1.7.3 </li>
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