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<h1>CLMBase Class Reference</h1> </div>
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<!-- doxytag: class="CLMBase" --><!-- doxytag: inherits="CikBase" -->
<p>Linear movement Class.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="lmBase_8h_source.html">lmBase.h</a>></code></p>
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Inheritance diagram for CLMBase:</div>
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Collaboration diagram for CLMBase:</div>
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<p><a href="classCLMBase-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a97770ffc63896ec86a5b2bb719599ac2">CLMBase</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a0588b70f72fa9fc88902b32095f98c10">initLM</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters for the linear movements. <a href="#a0588b70f72fa9fc88902b32095f98c10"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a728b71724865e3b6d410b428e79a31d8">movLM</a> (double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a6d7f4471bc3b8ab2af611889622865e4">movLM2PwithL</a> (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Old version of movLM2P which uses L-Command (only 4 splines) <a href="#a6d7f4471bc3b8ab2af611889622865e4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a959caa52685d1251a1b94d07a4c10b87">movLM2P4D</a> (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a82f9e6bbfe141a631c450c26d93994d3">movLM2P</a> (double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">New version of movLM2P with multiple splines. <a href="#a82f9e6bbfe141a631c450c26d93994d3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#aa681841b6b7de20c096cf0330eaf1c26">setMaximumLinearVelocity</a> (double maximumVelocity)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a0e3e6fe11c0c3a989f46317818b8e6a2">getMaximumLinearVelocity</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a6a36cfee0f659e071746a4dd1dba0c61">setActivatePositionController</a> (bool activate)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Re-Activate the position controller after the linear movement. <a href="#a6a36cfee0f659e071746a4dd1dba0c61"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#aa7f092dc22569135677113554a8edc2f">getActivatePositionController</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Check if the position controller will be activated after the linear movement. <a href="#aa7f092dc22569135677113554a8edc2f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#ad8d130a1ee82f07257a5a5229fe67f30">moveRobotLinearTo</a> (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#af9ee29f7dbe2dee3ea4429fc97500e4e">moveRobotLinearTo</a> (std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This method does the same as the one above and is mainly provided for convenience. <a href="#af9ee29f7dbe2dee3ea4429fc97500e4e"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-methods"></a>
Private Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#af64d90f475acdc1fe2c243e47abf644c">fillPoints</a> (double vmax)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#ade2c8d404502aa717a88d2f92fd8f16c">polDeviratives</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a15b8fb661f5b7a1ee00ef425ae1db806">polCoefficients</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a9f74699391ac130fb9b9708770097810">calcParameters</a> (double *arr_actpos, double *arr_tarpos, double vmax)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#af78530acb154cc505ac8f1ea5fa91d1f">totalTime</a> (double distance, double acc, double dec, double vmax)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates time needed for movement over a distance. <a href="#af78530acb154cc505ac8f1ea5fa91d1f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a69e4d9726b8bd3bc1c40e23b569112e3">relPosition</a> (double reltime, double distance, double acc, double dec, double vmax)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates the relative position reached after the relative time given. <a href="#a69e4d9726b8bd3bc1c40e23b569112e3"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#abdf434b55bc561e678b2b2820e2a7c31">splineCoefficients</a> (int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates the spline coefficient and stores them in arr_p1 - arr_p4. <a href="#abdf434b55bc561e678b2b2820e2a7c31"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a7f3ba36881e0945d6e5cf121f88cad28">checkJointSpeed</a> (std::vector< int > lastsolution, std::vector< int > solution, double time)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Checks if the joint speeds are below speed limit. <a href="#a7f3ba36881e0945d6e5cf121f88cad28"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-attribs"></a>
Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a5e3635cf4fe50f0937c2c5841a17feae">_maximumVelocity</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a1a012f08b7a5c2d9e0bb40d02863c669">_activatePositionController</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#aa537fa2ef4f3f56265eaf410db7c43be">_isInitialized</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTLMtrajectory.html">TLMtrajectory</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a8dc3ca0cfbc7b25892bc05d8bd7b33ca">trajectory</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structTBLENDtrajectory.html">TBLENDtrajectory</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classCLMBase.html#a429d7e9435537e39386e8e3a23d3c1e5">blendtrajectory</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Linear movement Class. </p>
<p>This class allows to do linear movements with the Katana robot. </p>
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00153">153</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
</div><hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a97770ffc63896ec86a5b2bb719599ac2"></a><!-- doxytag: member="CLMBase::CLMBase" ref="a97770ffc63896ec86a5b2bb719599ac2" args="()" -->
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<td class="memname">CLMBase::CLMBase </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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</table>
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<div class="memdoc">
<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00239">239</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a9f74699391ac130fb9b9708770097810"></a><!-- doxytag: member="CLMBase::calcParameters" ref="a9f74699391ac130fb9b9708770097810" args="(double *arr_actpos, double *arr_tarpos, double vmax)" -->
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<td class="memname">void CLMBase::calcParameters </td>
<td>(</td>
<td class="paramtype">double * </td>
<td class="paramname"><em>arr_actpos</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double * </td>
<td class="paramname"><em>arr_tarpos</em>, </td>
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<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>vmax</em> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<a class="anchor" id="a7f3ba36881e0945d6e5cf121f88cad28"></a><!-- doxytag: member="CLMBase::checkJointSpeed" ref="a7f3ba36881e0945d6e5cf121f88cad28" args="(std::vector< int > lastsolution, std::vector< int > solution, double time)" -->
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<td class="memname">bool CLMBase::checkJointSpeed </td>
<td>(</td>
<td class="paramtype">std::vector< int > </td>
<td class="paramname"><em>lastsolution</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::vector< int > </td>
<td class="paramname"><em>solution</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>time</em> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<p>Checks if the joint speeds are below speed limit. </p>
<p>Maximum joint speed is 180enc / 10ms.</p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jonas Haller </dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">lastsolution</td><td>encoder values of last point </td></tr>
<tr><td class="paramname">solution</td><td>encoder values of current point </td></tr>
<tr><td class="paramname">time</td><td>time difference between the points in s </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>true if joint speeds ok, false if joint speed too high </dd></dl>
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<a class="anchor" id="af64d90f475acdc1fe2c243e47abf644c"></a><!-- doxytag: member="CLMBase::fillPoints" ref="af64d90f475acdc1fe2c243e47abf644c" args="(double vmax)" -->
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<td class="memname">void CLMBase::fillPoints </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>vmax</em></td><td>)</td>
<td><code> [private]</code></td>
</tr>
</table>
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<a class="anchor" id="aa7f092dc22569135677113554a8edc2f"></a><!-- doxytag: member="CLMBase::getActivatePositionController" ref="aa7f092dc22569135677113554a8edc2f" args="()" -->
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<td class="memname">bool CLMBase::getActivatePositionController </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
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<p>Check if the position controller will be activated after the linear movement. </p>
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<a class="anchor" id="a0e3e6fe11c0c3a989f46317818b8e6a2"></a><!-- doxytag: member="CLMBase::getMaximumLinearVelocity" ref="a0e3e6fe11c0c3a989f46317818b8e6a2" args="() const " -->
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<td class="memname">double CLMBase::getMaximumLinearVelocity </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
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<a class="anchor" id="a0588b70f72fa9fc88902b32095f98c10"></a><!-- doxytag: member="CLMBase::initLM" ref="a0588b70f72fa9fc88902b32095f98c10" args="()" -->
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<td class="memname">void CLMBase::initLM </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
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<p>Initialize the parameters for the linear movements. </p>
<p>This is in the case you want to initialize it manually </p>
<dl class="note"><dt><b>Note:</b></dt><dd>If you do not call it, <a class="el" href="classCLMBase.html#ad8d130a1ee82f07257a5a5229fe67f30">moveRobotLinearTo()</a> will do it for you automatically </dd></dl>
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<a class="anchor" id="af9ee29f7dbe2dee3ea4429fc97500e4e"></a><!-- doxytag: member="CLMBase::moveRobotLinearTo" ref="af9ee29f7dbe2dee3ea4429fc97500e4e" args="(std::vector< double > coordinates, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::moveRobotLinearTo </td>
<td>(</td>
<td class="paramtype">std::vector< double > </td>
<td class="paramname"><em>coordinates</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>TM_ENDLESS</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<p>This method does the same as the one above and is mainly provided for convenience. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>You can call this function in python using tuples: Example: katana.moveRobotLinearTo( (x,y,z,phi,theta,psi) ) </dd>
<dd>
If the size of the container is smaller than 6, it will throw an exception! </dd></dl>
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<a class="anchor" id="ad8d130a1ee82f07257a5a5229fe67f30"></a><!-- doxytag: member="CLMBase::moveRobotLinearTo" ref="ad8d130a1ee82f07257a5a5229fe67f30" args="(double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=true, int waitTimeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::moveRobotLinearTo </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>x</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>phi</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>theta</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>psi</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>waitUntilReached</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>waitTimeout</em> = <code>TM_ENDLESS</code> </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">waitUntilReached</td><td>has to be true with new implementation of movLM2P </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a728b71724865e3b6d410b428e79a31d8"></a><!-- doxytag: member="CLMBase::movLM" ref="a728b71724865e3b6d410b428e79a31d8" args="(double X, double Y, double Z, double Al, double Be, double Ga, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::movLM </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga</em>, </td>
</tr>
<tr>
<td class="paramkey"></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">double </td>
<td class="paramname"><em>vmax</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>true</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>
</div>
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<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">wait</td><td>has to be true with new implementation of movLM2P </td></tr>
</table>
</dd>
</dl>
</div>
</div>
<a class="anchor" id="a82f9e6bbfe141a631c450c26d93994d3"></a><!-- doxytag: member="CLMBase::movLM2P" ref="a82f9e6bbfe141a631c450c26d93994d3" args="(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=true, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::movLM2P </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>X2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga2</em>, </td>
</tr>
<tr>
<td class="paramkey"></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">double </td>
<td class="paramname"><em>vmax</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>wait</em> = <code>true</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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<p>New version of movLM2P with multiple splines. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jonas Haller </dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">X1</td><td>X coordinate of actual position </td></tr>
<tr><td class="paramname">Y1</td><td>Y coordinate of actual position </td></tr>
<tr><td class="paramname">Z1</td><td>Z coordinate of actual position </td></tr>
<tr><td class="paramname">Ph1</td><td>Phi angle of actual position </td></tr>
<tr><td class="paramname">Th1</td><td>Theta angle of actual position </td></tr>
<tr><td class="paramname">Ps1</td><td>Psi angle of actual position </td></tr>
<tr><td class="paramname">X2</td><td>X coordinate of target position </td></tr>
<tr><td class="paramname">Y2</td><td>Y coordinate of target position </td></tr>
<tr><td class="paramname">Z2</td><td>Z coordinate of target position </td></tr>
<tr><td class="paramname">Ph2</td><td>Phi angle of target position </td></tr>
<tr><td class="paramname">Th2</td><td>Theta angle of target position </td></tr>
<tr><td class="paramname">Ps2</td><td>Psi angle of target position </td></tr>
<tr><td class="paramname">exactflag</td><td>activate the position controller after the movement </td></tr>
<tr><td class="paramname">vmax</td><td>maximum velocity of the movement in mm/s </td></tr>
<tr><td class="paramname">wait</td><td>param for legacy reasons only, has to be true </td></tr>
<tr><td class="paramname">tolerance</td><td>tolerance for all motor encoders </td></tr>
<tr><td class="paramname">timeout</td><td>timeout for linear movement in ms </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname">NoSolutionException</td><td>if no solution found for IK </td></tr>
<tr><td class="paramname"><a class="el" href="classJointSpeedException.html" title="Joint speed too high.">JointSpeedException</a></td><td>if joint speed too high </td></tr>
<tr><td class="paramname"><a class="el" href="classWaitParameterException.html" title="Wait parameter set to false.">WaitParameterException</a></td><td>if wait set to false </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>void </dd></dl>
</div>
</div>
<a class="anchor" id="a959caa52685d1251a1b94d07a4c10b87"></a><!-- doxytag: member="CLMBase::movLM2P4D" ref="a959caa52685d1251a1b94d07a4c10b87" args="(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::movLM2P4D </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>X2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga2</em>, </td>
</tr>
<tr>
<td class="paramkey"></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">double </td>
<td class="paramname"><em>vmax</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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<a class="anchor" id="a6d7f4471bc3b8ab2af611889622865e4"></a><!-- doxytag: member="CLMBase::movLM2PwithL" ref="a6d7f4471bc3b8ab2af611889622865e4" args="(double X1, double Y1, double Z1, double Al1, double Be1, double Ga1, double X2, double Y2, double Z2, double Al2, double Be2, double Ga2, bool exactflag, double vmax, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)" -->
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<td class="memname">void CLMBase::movLM2PwithL </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>X1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>X2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Y2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Z2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Al2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Be2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>Ga2</em>, </td>
</tr>
<tr>
<td class="paramkey"></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">double </td>
<td class="paramname"><em>vmax</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>
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<tr>
<td></td>
<td>)</td>
<td></td><td></td>
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<p>Old version of movLM2P which uses L-Command (only 4 splines) </p>
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<a class="anchor" id="a15b8fb661f5b7a1ee00ef425ae1db806"></a><!-- doxytag: member="CLMBase::polCoefficients" ref="a15b8fb661f5b7a1ee00ef425ae1db806" args="()" -->
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<td class="memname">void CLMBase::polCoefficients </td>
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<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
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<a class="anchor" id="ade2c8d404502aa717a88d2f92fd8f16c"></a><!-- doxytag: member="CLMBase::polDeviratives" ref="ade2c8d404502aa717a88d2f92fd8f16c" args="()" -->
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<td class="memname">void CLMBase::polDeviratives </td>
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<td class="paramname"></td><td>)</td>
<td><code> [private]</code></td>
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<a class="anchor" id="a69e4d9726b8bd3bc1c40e23b569112e3"></a><!-- doxytag: member="CLMBase::relPosition" ref="a69e4d9726b8bd3bc1c40e23b569112e3" args="(double reltime, double distance, double acc, double dec, double vmax)" -->
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<td class="memname">double CLMBase::relPosition </td>
<td>(</td>
<td class="paramtype">double </td>
<td class="paramname"><em>reltime</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double </td>
<td class="paramname"><em>distance</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>acc</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>dec</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>vmax</em> </td>
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<td>)</td>
<td></td><td><code> [private]</code></td>
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<p>Calculates the relative position reached after the relative time given. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jonas Haller </dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">reltime</td><td>relative time (fraction of totaltime) </td></tr>
<tr><td class="paramname">distance</td><td>distance of the movement in mm </td></tr>
<tr><td class="paramname">acc</td><td>acceleration at the beginning in mm/s^2 </td></tr>
<tr><td class="paramname">dec</td><td>deceleration at the end in mm/s^2 </td></tr>
<tr><td class="paramname">vmax</td><td>maximum velocity of the movement in mm/s </td></tr>
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</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>relative distance (fraction of distance) </dd></dl>
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<a class="anchor" id="a6a36cfee0f659e071746a4dd1dba0c61"></a><!-- doxytag: member="CLMBase::setActivatePositionController" ref="a6a36cfee0f659e071746a4dd1dba0c61" args="(bool activate)" -->
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<td class="memname">void CLMBase::setActivatePositionController </td>
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<p>Re-Activate the position controller after the linear movement. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>This can result in a small movement after the movement </dd></dl>
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<td class="memname">void CLMBase::setMaximumLinearVelocity </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>maximumVelocity</em></td><td>)</td>
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<a class="anchor" id="abdf434b55bc561e678b2b2820e2a7c31"></a><!-- doxytag: member="CLMBase::splineCoefficients" ref="abdf434b55bc561e678b2b2820e2a7c31" args="(int steps, double *timearray, double *encoderarray, double *arr_p1, double *arr_p2, double *arr_p3, double *arr_p4)" -->
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<td class="memname">void CLMBase::splineCoefficients </td>
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<td class="paramtype">int </td>
<td class="paramname"><em>steps</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double * </td>
<td class="paramname"><em>timearray</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">double * </td>
<td class="paramname"><em>encoderarray</em>, </td>
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<td class="paramtype">double * </td>
<td class="paramname"><em>arr_p1</em>, </td>
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<td class="paramtype">double * </td>
<td class="paramname"><em>arr_p2</em>, </td>
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<td class="paramtype">double * </td>
<td class="paramname"><em>arr_p3</em>, </td>
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<td class="paramtype">double * </td>
<td class="paramname"><em>arr_p4</em> </td>
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<p>Calculates the spline coefficient and stores them in arr_p1 - arr_p4. </p>
<p>Boundary conditions are that f_1'=0 and f_n'=0 (zero velocity at beginning and end of the movement) and f_i''=P_(i+1)''.</p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jonas Haller </dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">steps</td><td>number of splines to calculate </td></tr>
<tr><td class="paramname">timearray</td><td>times of the points (length = steps + 1) </td></tr>
<tr><td class="paramname">encoderarray</td><td>encoder values of the points (length = steps + 1) </td></tr>
<tr><td class="paramname">arr_p1</td><td>to return parameters 1 (length = steps) </td></tr>
<tr><td class="paramname">arr_p2</td><td>to return parameters 2 (length = steps) </td></tr>
<tr><td class="paramname">arr_p3</td><td>to return parameters 3 (length = steps) </td></tr>
<tr><td class="paramname">arr_p4</td><td>to return parameters 4 (length = steps) </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>void </dd></dl>
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<a class="anchor" id="af78530acb154cc505ac8f1ea5fa91d1f"></a><!-- doxytag: member="CLMBase::totalTime" ref="af78530acb154cc505ac8f1ea5fa91d1f" args="(double distance, double acc, double dec, double vmax)" -->
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<td class="memname">double CLMBase::totalTime </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>distance</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>acc</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>dec</em>, </td>
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<td class="paramtype">double </td>
<td class="paramname"><em>vmax</em> </td>
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<td>)</td>
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<p>Calculates time needed for movement over a distance. </p>
<dl class="author"><dt><b>Author:</b></dt><dd>Jonas Haller </dd></dl>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">distance</td><td>distance of the movement in mm </td></tr>
<tr><td class="paramname">acc</td><td>acceleration at the beginning in mm/s^2 </td></tr>
<tr><td class="paramname">dec</td><td>deceleration at the end in mm/s^2 </td></tr>
<tr><td class="paramname">vmax</td><td>maximum velocity of the movement in mm/s </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>time needed for the movement in s </dd></dl>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a1a012f08b7a5c2d9e0bb40d02863c669"></a><!-- doxytag: member="CLMBase::_activatePositionController" ref="a1a012f08b7a5c2d9e0bb40d02863c669" args="" -->
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<td class="memname">bool <a class="el" href="classCLMBase.html#a1a012f08b7a5c2d9e0bb40d02863c669">CLMBase::_activatePositionController</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00157">157</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="aa537fa2ef4f3f56265eaf410db7c43be"></a><!-- doxytag: member="CLMBase::_isInitialized" ref="aa537fa2ef4f3f56265eaf410db7c43be" args="" -->
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<td class="memname">bool <a class="el" href="classCLMBase.html#aa537fa2ef4f3f56265eaf410db7c43be">CLMBase::_isInitialized</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00158">158</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a5e3635cf4fe50f0937c2c5841a17feae"></a><!-- doxytag: member="CLMBase::_maximumVelocity" ref="a5e3635cf4fe50f0937c2c5841a17feae" args="" -->
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<td class="memname">double <a class="el" href="classCLMBase.html#a5e3635cf4fe50f0937c2c5841a17feae">CLMBase::_maximumVelocity</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00156">156</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a429d7e9435537e39386e8e3a23d3c1e5"></a><!-- doxytag: member="CLMBase::blendtrajectory" ref="a429d7e9435537e39386e8e3a23d3c1e5" args="" -->
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<td class="memname"><a class="el" href="structTBLENDtrajectory.html">TBLENDtrajectory</a> <a class="el" href="classCLMBase.html#a429d7e9435537e39386e8e3a23d3c1e5">CLMBase::blendtrajectory</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00162">162</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<a class="anchor" id="a8dc3ca0cfbc7b25892bc05d8bd7b33ca"></a><!-- doxytag: member="CLMBase::trajectory" ref="a8dc3ca0cfbc7b25892bc05d8bd7b33ca" args="" -->
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<td class="memname"><a class="el" href="structTLMtrajectory.html">TLMtrajectory</a> <a class="el" href="classCLMBase.html#a8dc3ca0cfbc7b25892bc05d8bd7b33ca">CLMBase::trajectory</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="lmBase_8h_source.html#l00161">161</a> of file <a class="el" href="lmBase_8h_source.html">lmBase.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI_LM/<a class="el" href="lmBase_8h_source.html">lmBase.h</a></li>
</ul>
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<li class="navelem"><a class="el" href="classCLMBase.html">CLMBase</a> </li>
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