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<div id="projectname">KatanaNativeInterface <span id="projectnumber">$VERSION$</span></div>
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<h1>CKatana Class Reference</h1> </div>
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<p>Extended Katana class with additional functions.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>></code></p>
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Inheritance diagram for CKatana:</div>
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<area shape="rect" id="node3" href="classCikBase.html" title="{CikBase\n|- _kinematicsImpl\l- _kinematicsIsInitialized\l|+ CikBase()\l+ ~CikBase()\l+ DKApos()\l+ getCoordinates()\l+ IKCalculate()\l+ IKCalculate()\l+ IKGoto()\l+ moveRobotTo()\l+ moveRobotTo()\l- _initKinematics()\l}" alt="" coords="28,1213,193,1472"/><area shape="rect" id="node5" href="classCLMBase.html" title="Linear movement Class." alt="" coords="5,1521,216,2005"/></map>
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Collaboration diagram for CKatana:</div>
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<area shape="rect" id="node2" href="classCKatBase.html" title="Base Katana class." alt="" coords="351,433,548,1298"/><area shape="rect" id="node14" href="structTSctGNL.html" title="[GNL] controller generals" alt="" coords="231,1885,308,2005"/><area shape="rect" id="node41" href="structTMotGNL.html" title="[GNL] motor generals" alt="" coords="756,1894,833,1997"/><area shape="rect" id="node4" href="structTKatMFW.html" title="[MFW] master firmware version/revision number" alt="" coords="101,227,184,330"/><area shape="rect" id="node6" href="structTKatCBX.html" title="[CBX] connector box" alt="" coords="208,227,285,330"/><area shape="rect" id="node8" href="structTKatSCT.html" title="[SCT] every sens ctrl's attributes" alt="" coords="223,3941,300,4061"/><area shape="rect" id="node10" href="structTSctDesc.html" title="sensor controller description (partly)" alt="" coords="211,3173,312,3293"/><area shape="rect" id="node12" href="classCSctBase.html" title="Sensor Controller class." alt="" coords="336,3139,445,3328"/><area shape="rect" id="node17" href="structTSctDAT.html" title="[DAT] sensor data" alt="" coords="332,1894,409,1997"/><area shape="rect" id="node19" href="classCCplBase.html" title="Abstract base class for protocol definiton." alt="" coords="771,193,925,365"/><area shape="rect" id="node35" href="classCMotBase.html" title="Motor class." alt="" coords="1275,2593,1464,3874"/><area shape="rect" id="node21" href="classCCdlBase.html" title="Abstract base class for devices." alt="" coords="793,5,903,125"/><area shape="rect" id="node23" href="structTKatCTB.html" title="[CTB] command table defined in the firmware" alt="" coords="309,236,387,321"/><area shape="rect" id="node25" href="structTKatECH.html" title="[ECH] echo" alt="" coords="411,236,488,321"/><area shape="rect" id="node27" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor." alt="" coords="512,236,619,321"/><area shape="rect" id="node29" href="structTKatGNL.html" title="[GNL] general robot attributes" alt="" coords="643,227,747,330"/><area shape="rect" id="node31" href="structTKatMOT.html" title="[MOT] every motor's attributes" alt="" coords="943,3941,1020,4061"/><area shape="rect" id="node33" href="structTMotDesc.html" title="motor description (partly)" alt="" coords="940,3191,1023,3276"/><area shape="rect" id="node37" href="structTMotENL.html" title="[ENL] limits in encoder values (INTERNAL STRUCTURE!)" alt="" coords="1651,1868,1768,2023"/><area shape="rect" id="node39" href="structTMotSFW.html" title="[SFW] slave firmware" alt="" coords="1792,1868,1888,2023"/><area shape="rect" id="node44" href="structTMotInit.html" title="Initial motor parameters." alt="" coords="857,1859,999,2031"/><area shape="rect" id="node46" href="structTMotCLB.html" title="Calibration structure for single motors." alt="" coords="1088,1842,1243,2049"/><area shape="rect" id="node48" href="structTMotSCP.html" title="[SCP] static controller parameters" alt="" coords="1343,693,1492,1038"/><area shape="rect" id="node50" href="structTMotDYL.html" title="[DYL] dynamic limits" alt="" coords="1039,736,1172,995"/><area shape="rect" id="node52" href="structTMotPVP.html" title="[PVP] position, velocity, pulse width modulation" alt="" coords="1267,1877,1344,2014"/><area shape="rect" id="node54" href="structTMotAPS.html" title="[APS] actual position" alt="" coords="1368,1894,1451,1997"/><area shape="rect" id="node57" href="structTMotTPS.html" title="[TPS] target position" alt="" coords="1544,1894,1627,1997"/><area shape="rect" id="node61" href="structTKatIDS.html" title="[IDS] identification string" alt="" coords="5,236,77,321"/></map>
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<p><a href="classCKatana-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"><a class="el" href="classCKatBase.html">CKatBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ade5d072aee98f77420affc9dd524abd7">GetBase</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns pointer to 'CKatBase*'. <a href="#ade5d072aee98f77420affc9dd524abd7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#afde8ab05c6a8d2d8a3afae58c5fee0b4">CKatana</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#afde8ab05c6a8d2d8a3afae58c5fee0b4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a5d16e2959461280a0e6c55dfc282a39a">~CKatana</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. <a href="#a5d16e2959461280a0e6c55dfc282a39a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a83cd9064297d8001840a7c6627b373ae">create</a> (const char *configurationFile, <a class="el" href="classCCplBase.html">CCplBase</a> *protocol)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create routine. <a href="#a83cd9064297d8001840a7c6627b373ae"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aef380c30b530a3a9da5f86a3c13b419c">create</a> (<a class="el" href="classKNI_1_1kmlFactory.html">KNI::kmlFactory</a> *infos, <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="classCKatana.html#a28eb1a96b3ca8c2b87d223112f12fb23">create</a> (<a class="el" href="structTKatGNL.html">TKatGNL</a> &gnl, <a class="el" href="structTKatMOT.html">TKatMOT</a> &mot, <a class="el" href="structTKatSCT.html">TKatSCT</a> &sct, <a class="el" href="structTKatEFF.html">TKatEFF</a> &eff, <a class="el" href="classCCplBase.html">CCplBase</a> *protocol)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Create routine. <a href="#a28eb1a96b3ca8c2b87d223112f12fb23"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a2ad98c7c54b1ad5eb1f7455081530df1">calibrate</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a3b824ecf32ee288caf7381354b7316f7">calibrate</a> (long idx, <a class="el" href="structTMotCLB.html">TMotCLB</a> clb, <a class="el" href="structTMotSCP.html">TMotSCP</a> scp, <a class="el" href="structTMotDYL.html">TMotDYL</a> dyl)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ada8912ed951ec6b305b3bda11867dd00">searchMechStop</a> (long idx, <a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> dir, <a class="el" href="structTMotSCP.html">TMotSCP</a> scp, <a class="el" href="structTMotDYL.html">TMotDYL</a> dyl)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a258b966ae3f9ce59e385d9c128852fd6">inc</a> (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Increments the motor specified by an index postion in encoders. <a href="#a258b966ae3f9ce59e385d9c128852fd6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aae6e5539ce361b00f7afac6e8d93c5c2">dec</a> (long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decrements the motor specified by an index postion in encoders. <a href="#aae6e5539ce361b00f7afac6e8d93c5c2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a52848e98a237dc860957c7988393cf1e">mov</a> (long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves the motor specified by an index to a given target position in encoders. <a href="#a52848e98a237dc860957c7988393cf1e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a2815161216641f6aaddbaa29ed589abd">incDegrees</a> (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Increments the motor specified by an index postion in degree units. <a href="#a2815161216641f6aaddbaa29ed589abd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ac59238f16b8b9605e0c42192329d78e7">decDegrees</a> (long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Decrements the motor specified by an index postion in degree units. <a href="#ac59238f16b8b9605e0c42192329d78e7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ac82b95f181b9b261730598b7db82acf2">movDegrees</a> (long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves the motor specified by an index to a given target position in degree units. <a href="#ac82b95f181b9b261730598b7db82acf2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a65e478e68c805574525b189ff3701568">setTPSP</a> (long idx, int tar)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the target position of a motor in encoders and allows the movement of that motor during the parallel movement. <a href="#a65e478e68c805574525b189ff3701568"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a5c6cfc2b717338e69fecfb78ade22e27">resetTPSP</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Forbid the movement of all the motors during the parallel movement. <a href="#a5c6cfc2b717338e69fecfb78ade22e27"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a776713daefc4a0c634349c2418221be9">sendTPSP</a> (bool wait=false, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Moves the allowed motors simultaneously. <a href="#a776713daefc4a0c634349c2418221be9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a3ae4c24152b126e08214e9c61427c4f5">setTPSPDegrees</a> (long idx, double tar)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the target position of a motor in degree Units and allows the movement of that motor during the parallel movement. <a href="#a3ae4c24152b126e08214e9c61427c4f5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a84693dbfdb66b3e57062a35dd91c0fb1">checkENLD</a> (long idx, double degrees)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the absolute position in degrees is out of range. <a href="#a84693dbfdb66b3e57062a35dd91c0fb1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aa087ff5ed3007466deeb243c092007d9">setGripperParameters</a> (bool isPresent, int openEncoders, int closeEncoders)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Tell the robot about the presence of a gripper. <a href="#aa087ff5ed3007466deeb243c092007d9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a41a09deb7a0433255a924a71c217ca23">enableCrashLimits</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">crash limits enable <a href="#a41a09deb7a0433255a924a71c217ca23"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a0e26a176456babe6447126c479db78b7">disableCrashLimits</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">crash limits disable <a href="#a0e26a176456babe6447126c479db78b7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ae885279b9ac574a0ec0c55a7ec8bc48c">unBlock</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">unblock robot after a crash <a href="#ae885279b9ac574a0ec0c55a7ec8bc48c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a37e907930dc2a13fa62247b2eea056ac">setCrashLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">unblock robot after a crash <a href="#a37e907930dc2a13fa62247b2eea056ac"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a63e812f38088bb2ca6192a3d293c8a8c">setPositionCollisionLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set collision position limits <a href="#a63e812f38088bb2ca6192a3d293c8a8c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a7580e47efcb26e2acc87623d6db8ff5d">setSpeedCollisionLimit</a> (long idx, int limit)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">set collision speed limits <a href="#a7580e47efcb26e2acc87623d6db8ff5d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a172be29516507c34b19594a58a4267ca">getNumberOfMotors</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a61c2a6310030bd29af107f3e0eb01ce9">getMotorEncoders</a> (short number, bool refreshEncoders=true) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< int >::iterator </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a0ac9b0f5412dbcf3b5c9934e46e7c91b">getRobotEncoders</a> (std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Write the cached encoders into the container. <a href="#a0ac9b0f5412dbcf3b5c9934e46e7c91b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a68a55f78480f26b6fe749eaf1c489a34">getRobotEncoders</a> (bool refreshEncoders=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the current robot encoders as a vector-container. <a href="#a68a55f78480f26b6fe749eaf1c489a34"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#af22a022da35ca4b56f810f1efef5ad21">getMotorVelocityLimit</a> (short number) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">short </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#af62baa362662708d83cf96da80ffaa1d">getMotorAccelerationLimit</a> (short number) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ab44ee1e88e6d5d9ec0e832a2f46d5769">setMotorVelocityLimit</a> (short number, short velocity)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a207ba444d29c5d8a1adcfcfa54a93bd6">setMotorAccelerationLimit</a> (short number, short acceleration)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ae2962dbcbd1a35a37ebc9bb6ec945fb4">setRobotVelocityLimit</a> (short velocity)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ab023e1cdf2f6ad897015d3970f7000f9">setRobotAccelerationLimit</a> (short acceleration)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the velocity of all motors together. <a href="#ab023e1cdf2f6ad897015d3970f7000f9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aec30330943780ff661391663bff04d59">moveMotorByEnc</a> (short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a361b7c135d0062ff99681929526cc581">moveMotorBy</a> (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#abc9ee98f03c6aa18e4c825ed3e591bc0">moveMotorToEnc</a> (short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a7a8369eab8e1f853aafe521969ad4f53">moveMotorTo</a> (short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aceb8f5fdbdb00a3ac1e2f4107f85e7a9">waitForMotor</a> (short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aabb391098771570d3e592667ec7a4bb0">moveRobotToEnc</a> (std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Move to robot to given encoders. <a href="#aabb391098771570d3e592667ec7a4bb0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a4bf22ed547599e50297e3dabd4c3bdfe">moveRobotToEnc</a> (std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Move to robot to given encoders in the vector-container. <a href="#a4bf22ed547599e50297e3dabd4c3bdfe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#abea1dbbdda8c2ab9a609a5cfc38ed990">moveRobotToEnc4D</a> (std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Move to robot to given target in the vector-container with the given velocity, acceleration and tolerance. <a href="#abea1dbbdda8c2ab9a609a5cfc38ed990"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a29fb7e79d15b30e274e274648b347038">openGripper</a> (bool waitUntilReached=false, int waitTimeout=100)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aaad1e89aa2bfb896793a516ab2b004e2">closeGripper</a> (bool waitUntilReached=false, int waitTimeout=100)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aa5427a895913b22112ca69171011323b">freezeRobot</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#ab00eb4e4f158aadbff40333b55115189">freezeMotor</a> (short number)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a26d3f806866d529436be7892bc0c5e51">switchRobotOn</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a01ba3e29c4ed7722f373c5d6d828218e">switchRobotOff</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a084b4f9a5327b3609f5be761b160bfb1">switchMotorOn</a> (short number)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a2fccae6b7531c2af52530454178fcea5">switchMotorOff</a> (short number)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a149ba6160c859913d38d47b861fd42e1">startSplineMovement</a> (bool exactflag, int moreflag=1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start a spline movement. <a href="#a149ba6160c859913d38d47b861fd42e1"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a35f8ccf6714f94208fe9be7d1f2dc44e">startFourSplinesMovement</a> (bool exactflag)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Start a fourSplines movement. <a href="#a35f8ccf6714f94208fe9be7d1f2dc44e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a2518c9bf77e88b03df76971b854c7f8c">sendSplineToMotor</a> (unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send one spline to the motor. <a href="#a2518c9bf77e88b03df76971b854c7f8c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#aa854c006f38f5ae4776e585932eb6119">sendFourSplinesToMotor</a> (unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Send four splines to the motor. <a href="#aa854c006f38f5ae4776e585932eb6119"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a1cbdba763725b80eae3d3608f5a34ef1">sendFourSplinesToMotor</a> (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)</td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a5b4f1a38beded42c3f14bdee84306e44">setTolerance</a> (long idx, int enc_tolerance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sets the tolerance range in encoder units for the robots movements. <a href="#a5b4f1a38beded42c3f14bdee84306e44"></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="classCKatBase.html">CKatBase</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#af32c87dab006252f4e9351cccf5cb44f">base</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">base katana <a href="#af32c87dab006252f4e9351cccf5cb44f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a3256bba24fd9b32c07cec72dcd187637">_gripperIsPresent</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a564ba0a6a1d3e3e2c8c4a7778356547f">_gripperOpenEncoders</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a20a9baa8389f76a577931797fc86e8b6">_gripperCloseEncoders</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classCKatana.html#a1daf4b7d80123f92046b5771660b3352">mKatanaType</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The type of KatanaXXX (300 or 400) <a href="#a1daf4b7d80123f92046b5771660b3352"></a><br/></td></tr>
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<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Extended Katana class with additional functions. </p>
<p>This class uses the 'CKatBase* base' object to refer to a Katana robot. </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00064">64</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="afde8ab05c6a8d2d8a3afae58c5fee0b4"></a><!-- doxytag: member="CKatana::CKatana" ref="afde8ab05c6a8d2d8a3afae58c5fee0b4" args="()" -->
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<td class="memname">CKatana::CKatana </td>
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<td><code> [inline]</code></td>
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<p>Constructor. </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00086">86</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="a5d16e2959461280a0e6c55dfc282a39a"></a><!-- doxytag: member="CKatana::~CKatana" ref="a5d16e2959461280a0e6c55dfc282a39a" args="()" -->
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<td class="memname">CKatana::~CKatana </td>
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<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Destructor. </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00089">89</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a2ad98c7c54b1ad5eb1f7455081530df1"></a><!-- doxytag: member="CKatana::calibrate" ref="a2ad98c7c54b1ad5eb1f7455081530df1" args="()" -->
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<td class="memname">void CKatana::calibrate </td>
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<a class="anchor" id="a3b824ecf32ee288caf7381354b7316f7"></a><!-- doxytag: member="CKatana::calibrate" ref="a3b824ecf32ee288caf7381354b7316f7" args="(long idx, TMotCLB clb, TMotSCP scp, TMotDYL dyl)" -->
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<td class="memname">void CKatana::calibrate </td>
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<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="structTMotCLB.html">TMotCLB</a> </td>
<td class="paramname"><em>clb</em>, </td>
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<td class="paramtype"><a class="el" href="structTMotSCP.html">TMotSCP</a> </td>
<td class="paramname"><em>scp</em>, </td>
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<td class="paramtype"><a class="el" href="structTMotDYL.html">TMotDYL</a> </td>
<td class="paramname"><em>dyl</em> </td>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">idx</td><td>motor index </td></tr>
<tr><td class="paramname">clb</td><td>calibration struct for one motor </td></tr>
<tr><td class="paramname">scp</td><td>static controller parameters </td></tr>
<tr><td class="paramname">dyl</td><td>dynamic controller parameters </td></tr>
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</dd>
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<a class="anchor" id="a84693dbfdb66b3e57062a35dd91c0fb1"></a><!-- doxytag: member="CKatana::checkENLD" ref="a84693dbfdb66b3e57062a35dd91c0fb1" args="(long idx, double degrees)" -->
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<td class="memname">bool CKatana::checkENLD </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>degrees</em> </td>
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<p>Check if the absolute position in degrees is out of range. </p>
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<a class="anchor" id="aaad1e89aa2bfb896793a516ab2b004e2"></a><!-- doxytag: member="CKatana::closeGripper" ref="aaad1e89aa2bfb896793a516ab2b004e2" args="(bool waitUntilReached=false, int waitTimeout=100)" -->
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<td class="memname">void CKatana::closeGripper </td>
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<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
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<td class="paramname"><em>waitTimeout</em> = <code>100</code> </td>
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<a class="anchor" id="aef380c30b530a3a9da5f86a3c13b419c"></a><!-- doxytag: member="CKatana::create" ref="aef380c30b530a3a9da5f86a3c13b419c" args="(KNI::kmlFactory *infos, CCplBase *protocol)" -->
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<td class="memname">void CKatana::create </td>
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<td class="paramtype"><a class="el" href="classKNI_1_1kmlFactory.html">KNI::kmlFactory</a> * </td>
<td class="paramname"><em>infos</em>, </td>
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<td class="paramtype"><a class="el" href="classCCplBase.html">CCplBase</a> * </td>
<td class="paramname"><em>protocol</em> </td>
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<a class="anchor" id="a28eb1a96b3ca8c2b87d223112f12fb23"></a><!-- doxytag: member="CKatana::create" ref="a28eb1a96b3ca8c2b87d223112f12fb23" args="(TKatGNL &gnl, TKatMOT &mot, TKatSCT &sct, TKatEFF &eff, CCplBase *protocol)" -->
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<td class="memname">void CKatana::create </td>
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<td class="paramname"><em>gnl</em>, </td>
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<td class="paramtype"><a class="el" href="structTKatMOT.html">TKatMOT</a> & </td>
<td class="paramname"><em>mot</em>, </td>
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<td class="paramtype"><a class="el" href="structTKatSCT.html">TKatSCT</a> & </td>
<td class="paramname"><em>sct</em>, </td>
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<td class="paramname"><em>eff</em>, </td>
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<td class="paramname"><em>protocol</em> </td>
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<p>Create routine. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">gnl</td><td>katana initial attributes </td></tr>
<tr><td class="paramname">mot</td><td>motor initial attributes </td></tr>
<tr><td class="paramname">sct</td><td>sensor controller initial attributes </td></tr>
<tr><td class="paramname">eff</td><td>end effector initial attributes </td></tr>
<tr><td class="paramname">protocol</td><td>protocol to be used </td></tr>
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<a class="anchor" id="a83cd9064297d8001840a7c6627b373ae"></a><!-- doxytag: member="CKatana::create" ref="a83cd9064297d8001840a7c6627b373ae" args="(const char *configurationFile, CCplBase *protocol)" -->
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<td class="memname">void CKatana::create </td>
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<td class="paramtype">const char * </td>
<td class="paramname"><em>configurationFile</em>, </td>
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<td class="paramtype"><a class="el" href="classCCplBase.html">CCplBase</a> * </td>
<td class="paramname"><em>protocol</em> </td>
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<p>Create routine. </p>
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<a class="anchor" id="aae6e5539ce361b00f7afac6e8d93c5c2"></a><!-- doxytag: member="CKatana::dec" ref="aae6e5539ce361b00f7afac6e8d93c5c2" args="(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
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<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
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<p>Decrements the motor specified by an index postion in encoders. </p>
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<a class="anchor" id="ac59238f16b8b9605e0c42192329d78e7"></a><!-- doxytag: member="CKatana::decDegrees" ref="ac59238f16b8b9605e0c42192329d78e7" args="(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::decDegrees </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">double </td>
<td class="paramname"><em>dif</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Decrements the motor specified by an index postion in degree units. </p>
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<a class="anchor" id="a0e26a176456babe6447126c479db78b7"></a><!-- doxytag: member="CKatana::disableCrashLimits" ref="a0e26a176456babe6447126c479db78b7" args="()" -->
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<td class="memname">void CKatana::disableCrashLimits </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<p>crash limits disable </p>
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<a class="anchor" id="a41a09deb7a0433255a924a71c217ca23"></a><!-- doxytag: member="CKatana::enableCrashLimits" ref="a41a09deb7a0433255a924a71c217ca23" args="()" -->
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<td class="memname">void CKatana::enableCrashLimits </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<div class="memdoc">
<p>crash limits enable </p>
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<a class="anchor" id="ab00eb4e4f158aadbff40333b55115189"></a><!-- doxytag: member="CKatana::freezeMotor" ref="ab00eb4e4f158aadbff40333b55115189" args="(short number)" -->
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<td class="memname">void CKatana::freezeMotor </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td></td>
</tr>
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<a class="anchor" id="aa5427a895913b22112ca69171011323b"></a><!-- doxytag: member="CKatana::freezeRobot" ref="aa5427a895913b22112ca69171011323b" args="()" -->
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<td class="memname">void CKatana::freezeRobot </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<a class="anchor" id="ade5d072aee98f77420affc9dd524abd7"></a><!-- doxytag: member="CKatana::GetBase" ref="ade5d072aee98f77420affc9dd524abd7" args="()" -->
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<td class="memname"><a class="el" href="classCKatBase.html">CKatBase</a>* CKatana::GetBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Returns pointer to 'CKatBase*'. </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00081">81</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="af62baa362662708d83cf96da80ffaa1d"></a><!-- doxytag: member="CKatana::getMotorAccelerationLimit" ref="af62baa362662708d83cf96da80ffaa1d" args="(short number) const " -->
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<td class="memname">short CKatana::getMotorAccelerationLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td> const</td>
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<a class="anchor" id="a61c2a6310030bd29af107f3e0eb01ce9"></a><!-- doxytag: member="CKatana::getMotorEncoders" ref="a61c2a6310030bd29af107f3e0eb01ce9" args="(short number, bool refreshEncoders=true) const " -->
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<td class="memname">int CKatana::getMotorEncoders </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>refreshEncoders</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
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<a class="anchor" id="af22a022da35ca4b56f810f1efef5ad21"></a><!-- doxytag: member="CKatana::getMotorVelocityLimit" ref="af22a022da35ca4b56f810f1efef5ad21" args="(short number) const " -->
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<td class="memname">short CKatana::getMotorVelocityLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td> const</td>
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</table>
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<a class="anchor" id="a172be29516507c34b19594a58a4267ca"></a><!-- doxytag: member="CKatana::getNumberOfMotors" ref="a172be29516507c34b19594a58a4267ca" args="() const " -->
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<td class="memname">short CKatana::getNumberOfMotors </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
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<a class="anchor" id="a0ac9b0f5412dbcf3b5c9934e46e7c91b"></a><!-- doxytag: member="CKatana::getRobotEncoders" ref="a0ac9b0f5412dbcf3b5c9934e46e7c91b" args="(std::vector< int >::iterator start, std::vector< int >::const_iterator end, bool refreshEncoders=true) const " -->
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<td class="memname">std::vector<int>::iterator CKatana::getRobotEncoders </td>
<td>(</td>
<td class="paramtype">std::vector< int >::iterator </td>
<td class="paramname"><em>start</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< int >::const_iterator </td>
<td class="paramname"><em>end</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>refreshEncoders</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
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<p>Write the cached encoders into the container. </p>
<p>Set refreshEncoders=true if the <a class="el" href="namespaceKNI.html">KNI</a> should fetch them from the robot. If m=distance(start, end) is smaller than the number of motors, only the first m motors will be written to the container, the function will not throw an exception because of this. The return value will point to one element after the last one. </p>
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<a class="anchor" id="a68a55f78480f26b6fe749eaf1c489a34"></a><!-- doxytag: member="CKatana::getRobotEncoders" ref="a68a55f78480f26b6fe749eaf1c489a34" args="(bool refreshEncoders=true) const " -->
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<td class="memname">std::vector<int> CKatana::getRobotEncoders </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>refreshEncoders</em> = <code>true</code></td><td>)</td>
<td> const</td>
</tr>
</table>
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<p>Get the current robot encoders as a vector-container. </p>
<p>This method is mainly provided for convenience. It is easier than the other getRobotEncoders method but probably not so efficient. It is much easier to use via the wrappers. </p>
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<a class="anchor" id="a258b966ae3f9ce59e385d9c128852fd6"></a><!-- doxytag: member="CKatana::inc" ref="a258b966ae3f9ce59e385d9c128852fd6" args="(long idx, int dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::inc </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>dif</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Increments the motor specified by an index postion in encoders. </p>
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<a class="anchor" id="a2815161216641f6aaddbaa29ed589abd"></a><!-- doxytag: member="CKatana::incDegrees" ref="a2815161216641f6aaddbaa29ed589abd" args="(long idx, double dif, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::incDegrees </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">double </td>
<td class="paramname"><em>dif</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Increments the motor specified by an index postion in degree units. </p>
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<a class="anchor" id="a52848e98a237dc860957c7988393cf1e"></a><!-- doxytag: member="CKatana::mov" ref="a52848e98a237dc860957c7988393cf1e" args="(long idx, int tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::mov </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>tar</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Moves the motor specified by an index to a given target position in encoders. </p>
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<a class="anchor" id="ac82b95f181b9b261730598b7db82acf2"></a><!-- doxytag: member="CKatana::movDegrees" ref="ac82b95f181b9b261730598b7db82acf2" args="(long idx, double tar, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::movDegrees </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">double </td>
<td class="paramname"><em>tar</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
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<div class="memdoc">
<p>Moves the motor specified by an index to a given target position in degree units. </p>
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<a class="anchor" id="a361b7c135d0062ff99681929526cc581"></a><!-- doxytag: member="CKatana::moveMotorBy" ref="a361b7c135d0062ff99681929526cc581" args="(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveMotorBy </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>radianAngle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
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<a class="anchor" id="aec30330943780ff661391663bff04d59"></a><!-- doxytag: member="CKatana::moveMotorByEnc" ref="aec30330943780ff661391663bff04d59" args="(short number, int encoders, bool waitUntilReached=false, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveMotorByEnc </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoders</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
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<a class="anchor" id="a7a8369eab8e1f853aafe521969ad4f53"></a><!-- doxytag: member="CKatana::moveMotorTo" ref="a7a8369eab8e1f853aafe521969ad4f53" args="(short number, double radianAngle, bool waitUntilReached=false, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveMotorTo </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>radianAngle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
</div>
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<a class="anchor" id="abc9ee98f03c6aa18e4c825ed3e591bc0"></a><!-- doxytag: member="CKatana::moveMotorToEnc" ref="abc9ee98f03c6aa18e4c825ed3e591bc0" args="(short number, int encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveMotorToEnc </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoders</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
</div>
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<a class="anchor" id="aabb391098771570d3e592667ec7a4bb0"></a><!-- doxytag: member="CKatana::moveRobotToEnc" ref="aabb391098771570d3e592667ec7a4bb0" args="(std::vector< int >::const_iterator start, std::vector< int >::const_iterator end, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveRobotToEnc </td>
<td>(</td>
<td class="paramtype">std::vector< int >::const_iterator </td>
<td class="paramname"><em>start</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< int >::const_iterator </td>
<td class="paramname"><em>end</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Move to robot to given encoders. </p>
<p>You can provide less values than the number of motors. In that case only the given ones will be moved. This can be usefull in cases where you want to move the robot but you don't want to move the gripper. </p>
</div>
</div>
<a class="anchor" id="a4bf22ed547599e50297e3dabd4c3bdfe"></a><!-- doxytag: member="CKatana::moveRobotToEnc" ref="a4bf22ed547599e50297e3dabd4c3bdfe" args="(std::vector< int > encoders, bool waitUntilReached=false, int encTolerance=100, int waitTimeout=0)" -->
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<td class="memname">void CKatana::moveRobotToEnc </td>
<td>(</td>
<td class="paramtype">std::vector< int > </td>
<td class="paramname"><em>encoders</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>0</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Move to robot to given encoders in the vector-container. </p>
<p>This method is mainly provided for convenience. Catch by value (and not by reference) is intended to avoid nasty wrapping code. </p>
</div>
</div>
<a class="anchor" id="abea1dbbdda8c2ab9a609a5cfc38ed990"></a><!-- doxytag: member="CKatana::moveRobotToEnc4D" ref="abea1dbbdda8c2ab9a609a5cfc38ed990" args="(std::vector< int > target, int velocity=180, int acceleration=1, int encTolerance=100)" -->
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<div class="memproto">
<table class="memname">
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<td class="memname">void CKatana::moveRobotToEnc4D </td>
<td>(</td>
<td class="paramtype">std::vector< int > </td>
<td class="paramname"><em>target</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>velocity</em> = <code>180</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>acceleration</em> = <code>1</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Move to robot to given target in the vector-container with the given velocity, acceleration and tolerance. </p>
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</div>
<a class="anchor" id="a29fb7e79d15b30e274e274648b347038"></a><!-- doxytag: member="CKatana::openGripper" ref="a29fb7e79d15b30e274e274648b347038" args="(bool waitUntilReached=false, int waitTimeout=100)" -->
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<td class="memname">void CKatana::openGripper </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>100</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a5c6cfc2b717338e69fecfb78ade22e27"></a><!-- doxytag: member="CKatana::resetTPSP" ref="a5c6cfc2b717338e69fecfb78ade22e27" args="()" -->
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<td class="memname">void CKatana::resetTPSP </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Forbid the movement of all the motors during the parallel movement. </p>
<p>deprecated: for use with old Katana5M only </p>
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<a class="anchor" id="ada8912ed951ec6b305b3bda11867dd00"></a><!-- doxytag: member="CKatana::searchMechStop" ref="ada8912ed951ec6b305b3bda11867dd00" args="(long idx, TSearchDir dir, TMotSCP scp, TMotDYL dyl)" -->
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<td class="memname">void CKatana::searchMechStop </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"><a class="el" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> </td>
<td class="paramname"><em>dir</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structTMotSCP.html">TMotSCP</a> </td>
<td class="paramname"><em>scp</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="structTMotDYL.html">TMotDYL</a> </td>
<td class="paramname"><em>dyl</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">idx</td><td>motor index </td></tr>
<tr><td class="paramname">dir</td><td>search direction </td></tr>
<tr><td class="paramname">scp</td><td>static controller parameters </td></tr>
<tr><td class="paramname">dyl</td><td>dynamic controller parameters </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="aa854c006f38f5ae4776e585932eb6119"></a><!-- doxytag: member="CKatana::sendFourSplinesToMotor" ref="aa854c006f38f5ae4776e585932eb6119" args="(unsigned short number, short targetPosition, short duration, std::vector< short > &coefficients)" -->
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<td class="memname">void CKatana::sendFourSplinesToMotor </td>
<td>(</td>
<td class="paramtype">unsigned short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>targetPosition</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>duration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< short > & </td>
<td class="paramname"><em>coefficients</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>Send four splines to the motor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">duration</td><td>Duration has to be given in 10ms units </td></tr>
<tr><td class="paramname">coefficients</td><td>4x4 coefficients have to be passed or the function will cause an assertion. </td></tr>
</table>
</dd>
</dl>
</div>
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<a class="anchor" id="a1cbdba763725b80eae3d3608f5a34ef1"></a><!-- doxytag: member="CKatana::sendFourSplinesToMotor" ref="a1cbdba763725b80eae3d3608f5a34ef1" args="(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)" -->
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<td class="memname">void CKatana::sendFourSplinesToMotor </td>
<td>(</td>
<td class="paramtype">unsigned short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>targetPosition</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>duration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p01</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p11</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p21</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p31</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p02</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p12</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p22</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p32</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p03</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p13</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p23</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p33</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p04</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p14</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p24</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p34</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a2518c9bf77e88b03df76971b854c7f8c"></a><!-- doxytag: member="CKatana::sendSplineToMotor" ref="a2518c9bf77e88b03df76971b854c7f8c" args="(unsigned short number, short targetPosition, short duration, short p1, short p2, short p3, short p4)" -->
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<td class="memname">void CKatana::sendSplineToMotor </td>
<td>(</td>
<td class="paramtype">unsigned short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>targetPosition</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>duration</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p3</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>p4</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Send one spline to the motor. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">duration</td><td>Duration has to be given in 10ms units </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a776713daefc4a0c634349c2418221be9"></a><!-- doxytag: member="CKatana::sendTPSP" ref="a776713daefc4a0c634349c2418221be9" args="(bool wait=false, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CKatana::sendTPSP </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>false</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">long </td>
<td class="paramname"><em>timeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Moves the allowed motors simultaneously. </p>
<p>deprecated: for use with old Katana5M only </p>
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<a class="anchor" id="a37e907930dc2a13fa62247b2eea056ac"></a><!-- doxytag: member="CKatana::setCrashLimit" ref="a37e907930dc2a13fa62247b2eea056ac" args="(long idx, int limit)" -->
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<td class="memname">void CKatana::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>unblock robot after a crash </p>
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<a class="anchor" id="aa087ff5ed3007466deeb243c092007d9"></a><!-- doxytag: member="CKatana::setGripperParameters" ref="aa087ff5ed3007466deeb243c092007d9" args="(bool isPresent, int openEncoders, int closeEncoders)" -->
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<td class="memname">void CKatana::setGripperParameters </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>isPresent</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>openEncoders</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>closeEncoders</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Tell the robot about the presence of a gripper. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">openEncoders</td><td>Which encoders should be used as target positions for opening the gripper </td></tr>
<tr><td class="paramname">closeEncoders</td><td>Dito for closing the gripper </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a207ba444d29c5d8a1adcfcfa54a93bd6"></a><!-- doxytag: member="CKatana::setMotorAccelerationLimit" ref="a207ba444d29c5d8a1adcfcfa54a93bd6" args="(short number, short acceleration)" -->
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<td class="memname">void CKatana::setMotorAccelerationLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>acceleration</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="ab44ee1e88e6d5d9ec0e832a2f46d5769"></a><!-- doxytag: member="CKatana::setMotorVelocityLimit" ref="ab44ee1e88e6d5d9ec0e832a2f46d5769" args="(short number, short velocity)" -->
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<td class="memname">void CKatana::setMotorVelocityLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>velocity</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a63e812f38088bb2ca6192a3d293c8a8c"></a><!-- doxytag: member="CKatana::setPositionCollisionLimit" ref="a63e812f38088bb2ca6192a3d293c8a8c" args="(long idx, int limit)" -->
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<td class="memname">void CKatana::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="ab023e1cdf2f6ad897015d3970f7000f9"></a><!-- doxytag: member="CKatana::setRobotAccelerationLimit" ref="ab023e1cdf2f6ad897015d3970f7000f9" args="(short acceleration)" -->
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<td class="memname">void CKatana::setRobotAccelerationLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>acceleration</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Set the velocity of all motors together. </p>
<p>This does not set the velocity of the TCP. </p>
</div>
</div>
<a class="anchor" id="ae2962dbcbd1a35a37ebc9bb6ec945fb4"></a><!-- doxytag: member="CKatana::setRobotVelocityLimit" ref="ae2962dbcbd1a35a37ebc9bb6ec945fb4" args="(short velocity)" -->
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<td class="memname">void CKatana::setRobotVelocityLimit </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>velocity</em></td><td>)</td>
<td></td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
</div>
<a class="anchor" id="a7580e47efcb26e2acc87623d6db8ff5d"></a><!-- doxytag: member="CKatana::setSpeedCollisionLimit" ref="a7580e47efcb26e2acc87623d6db8ff5d" args="(long idx, int limit)" -->
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<td class="memname">void CKatana::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="a5b4f1a38beded42c3f14bdee84306e44"></a><!-- doxytag: member="CKatana::setTolerance" ref="a5b4f1a38beded42c3f14bdee84306e44" args="(long idx, int enc_tolerance)" -->
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<td class="memname">void CKatana::setTolerance </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>enc_tolerance</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [protected]</code></td>
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<p>Sets the tolerance range in encoder units for the robots movements. </p>
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<a class="anchor" id="a65e478e68c805574525b189ff3701568"></a><!-- doxytag: member="CKatana::setTPSP" ref="a65e478e68c805574525b189ff3701568" args="(long idx, int tar)" -->
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<td class="memname">void CKatana::setTPSP </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>tar</em> </td>
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<td></td>
<td>)</td>
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<p>Sets the target position of a motor in encoders and allows the movement of that motor during the parallel movement. </p>
<p>deprecated: for use with old Katana5M only </p>
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<a class="anchor" id="a3ae4c24152b126e08214e9c61427c4f5"></a><!-- doxytag: member="CKatana::setTPSPDegrees" ref="a3ae4c24152b126e08214e9c61427c4f5" args="(long idx, double tar)" -->
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<td class="memname">void CKatana::setTPSPDegrees </td>
<td>(</td>
<td class="paramtype">long </td>
<td class="paramname"><em>idx</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>tar</em> </td>
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<td></td>
<td>)</td>
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<p>Sets the target position of a motor in degree Units and allows the movement of that motor during the parallel movement. </p>
<p>deprecated: for use with old Katana5M only </p>
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<a class="anchor" id="a35f8ccf6714f94208fe9be7d1f2dc44e"></a><!-- doxytag: member="CKatana::startFourSplinesMovement" ref="a35f8ccf6714f94208fe9be7d1f2dc44e" args="(bool exactflag)" -->
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<td class="memname">void CKatana::startFourSplinesMovement </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>exactflag</em></td><td>)</td>
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<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>
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</dd>
</dl>
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<a class="anchor" id="a149ba6160c859913d38d47b861fd42e1"></a><!-- doxytag: member="CKatana::startSplineMovement" ref="a149ba6160c859913d38d47b861fd42e1" args="(bool exactflag, int moreflag=1)" -->
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<td class="memname">void CKatana::startSplineMovement </td>
<td>(</td>
<td class="paramtype">bool </td>
<td class="paramname"><em>exactflag</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>moreflag</em> = <code>1</code> </td>
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<td>)</td>
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<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>
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<a class="anchor" id="a2fccae6b7531c2af52530454178fcea5"></a><!-- doxytag: member="CKatana::switchMotorOff" ref="a2fccae6b7531c2af52530454178fcea5" args="(short number)" -->
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<td class="memname">void CKatana::switchMotorOff </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td></td>
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<a class="anchor" id="a084b4f9a5327b3609f5be761b160bfb1"></a><!-- doxytag: member="CKatana::switchMotorOn" ref="a084b4f9a5327b3609f5be761b160bfb1" args="(short number)" -->
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<td class="memname">void CKatana::switchMotorOn </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em></td><td>)</td>
<td></td>
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<a class="anchor" id="a01ba3e29c4ed7722f373c5d6d828218e"></a><!-- doxytag: member="CKatana::switchRobotOff" ref="a01ba3e29c4ed7722f373c5d6d828218e" args="()" -->
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<td class="memname">void CKatana::switchRobotOff </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<a class="anchor" id="a26d3f806866d529436be7892bc0c5e51"></a><!-- doxytag: member="CKatana::switchRobotOn" ref="a26d3f806866d529436be7892bc0c5e51" args="()" -->
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<td class="memname">void CKatana::switchRobotOn </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
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<a class="anchor" id="ae885279b9ac574a0ec0c55a7ec8bc48c"></a><!-- doxytag: member="CKatana::unBlock" ref="ae885279b9ac574a0ec0c55a7ec8bc48c" args="()" -->
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<td class="memname">void CKatana::unBlock </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<p>unblock robot after a crash </p>
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<a class="anchor" id="aceb8f5fdbdb00a3ac1e2f4107f85e7a9"></a><!-- doxytag: member="CKatana::waitForMotor" ref="aceb8f5fdbdb00a3ac1e2f4107f85e7a9" args="(short number, int encoders, int encTolerance=100, short mode=0, int waitTimeout=5000)" -->
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<td class="memname">void CKatana::waitForMotor </td>
<td>(</td>
<td class="paramtype">short </td>
<td class="paramname"><em>number</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encoders</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>encTolerance</em> = <code>100</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">short </td>
<td class="paramname"><em>mode</em> = <code>0</code>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>5000</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a20a9baa8389f76a577931797fc86e8b6"></a><!-- doxytag: member="CKatana::_gripperCloseEncoders" ref="a20a9baa8389f76a577931797fc86e8b6" args="" -->
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<td class="memname">int <a class="el" href="classCKatana.html#a20a9baa8389f76a577931797fc86e8b6">CKatana::_gripperCloseEncoders</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00071">71</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="a3256bba24fd9b32c07cec72dcd187637"></a><!-- doxytag: member="CKatana::_gripperIsPresent" ref="a3256bba24fd9b32c07cec72dcd187637" args="" -->
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<td class="memname">bool <a class="el" href="classCKatana.html#a3256bba24fd9b32c07cec72dcd187637">CKatana::_gripperIsPresent</a><code> [protected]</code></td>
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<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00069">69</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="a564ba0a6a1d3e3e2c8c4a7778356547f"></a><!-- doxytag: member="CKatana::_gripperOpenEncoders" ref="a564ba0a6a1d3e3e2c8c4a7778356547f" args="" -->
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<td class="memname">int <a class="el" href="classCKatana.html#a564ba0a6a1d3e3e2c8c4a7778356547f">CKatana::_gripperOpenEncoders</a><code> [protected]</code></td>
</tr>
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<div class="memdoc">
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00070">70</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="af32c87dab006252f4e9351cccf5cb44f"></a><!-- doxytag: member="CKatana::base" ref="af32c87dab006252f4e9351cccf5cb44f" args="" -->
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<td class="memname"><a class="el" href="classCKatBase.html">CKatBase</a>* <a class="el" href="classCKatana.html#af32c87dab006252f4e9351cccf5cb44f">CKatana::base</a><code> [protected]</code></td>
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<p>base katana </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00067">67</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<a class="anchor" id="a1daf4b7d80123f92046b5771660b3352"></a><!-- doxytag: member="CKatana::mKatanaType" ref="a1daf4b7d80123f92046b5771660b3352" args="" -->
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<td class="memname">int <a class="el" href="classCKatana.html#a1daf4b7d80123f92046b5771660b3352">CKatana::mKatanaType</a><code> [protected]</code></td>
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<p>The type of KatanaXXX (300 or 400) </p>
<p>Definition at line <a class="el" href="kmlExt_8h_source.html#l00073">73</a> of file <a class="el" href="kmlExt_8h_source.html">kmlExt.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI/<a class="el" href="kmlExt_8h_source.html">kmlExt.h</a></li>
</ul>
</div>
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<li class="navelem"><a class="el" href="classCKatana.html">CKatana</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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