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<h1>KatanaKinematics6M90G.h</h1> </div>
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<a href="KatanaKinematics6M90G_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/***************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2006 by Tiziano Mueller *</span>
<a name="l00003"></a>00003 <span class="comment"> * tiziano.mueller@neuronics.ch *</span>
<a name="l00004"></a>00004 <span class="comment"> * *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify *</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by *</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or *</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version. *</span>
<a name="l00009"></a>00009 <span class="comment"> * *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful, *</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details. *</span>
<a name="l00014"></a>00014 <span class="comment"> * *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License *</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the *</span>
<a name="l00017"></a>00017 <span class="comment"> * Free Software Foundation, Inc., *</span>
<a name="l00018"></a>00018 <span class="comment"> * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *</span>
<a name="l00019"></a>00019 <span class="comment"> ***************************************************************************/</span>
<a name="l00020"></a>00020 <span class="preprocessor">#ifndef KNIKATANAKINEMATICS6M90G_H</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define KNIKATANAKINEMATICS6M90G_H</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00024"></a>00024
<a name="l00025"></a>00025 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematics.h"</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematicsDecisionAlgorithms.h"</span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028 <span class="preprocessor">#include <vector></span>
<a name="l00029"></a>00029
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="keyword">namespace </span>KNI {
<a name="l00032"></a>00032
<a name="l00039"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html">00039</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html">KatanaKinematics6M90G</a> : <span class="keyword">public</span> <a class="code" href="classKNI_1_1KatanaKinematics.html" title="The base class for all kinematic implementations.">KatanaKinematics</a> {
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="keyword">public</span>:
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keywordtype">void</span> init(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length, <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters);
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="comment">// strong guarantee provided here:</span>
<a name="l00046"></a>00046 <span class="keywordtype">void</span> DK(<a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a>& solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& current_encoders) <span class="keyword">const</span>;
<a name="l00047"></a>00047 <span class="keywordtype">void</span> IK(encoders::iterator solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a> <span class="keyword">const</span>& pose, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& cur_angles) <span class="keyword">const</span>;
<a name="l00048"></a>00048
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keyword">private</span>:
<a name="l00051"></a>00051
<a name="l00052"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">00052</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">position</a> {
<a name="l00053"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#a1d35c50eb07aa46e56530b34e3419f84">00053</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#a1d35c50eb07aa46e56530b34e3419f84">x</a>;
<a name="l00054"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#aea1902b7fdb8689e86b0755ff5acc6d1">00054</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#aea1902b7fdb8689e86b0755ff5acc6d1">y</a>;
<a name="l00055"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#a67f3e402ec3d37ac19e4284379046e03">00055</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html#a67f3e402ec3d37ac19e4284379046e03">z</a>;
<a name="l00056"></a>00056 };
<a name="l00057"></a>00057
<a name="l00058"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">00058</a> <span class="keyword">struct </span><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> {
<a name="l00059"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ae9740e7f61e17614edcb7b394a35c19b">00059</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ae9740e7f61e17614edcb7b394a35c19b">theta1</a>;
<a name="l00060"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#add8c29ddf80ebb4cbd78cd6984baaea1">00060</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#add8c29ddf80ebb4cbd78cd6984baaea1">theta2</a>;
<a name="l00061"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#aac87e7810ac3d3c60f1ddfd768a6485f">00061</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#aac87e7810ac3d3c60f1ddfd768a6485f">theta3</a>;
<a name="l00062"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ad7a119c81e066cb28e2f1ef4d33451cf">00062</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ad7a119c81e066cb28e2f1ef4d33451cf">theta4</a>;
<a name="l00063"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a5e31b48cd28854807066add84260dfe5">00063</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a5e31b48cd28854807066add84260dfe5">theta5</a>;
<a name="l00064"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a6750cf5b9d5f5f6828c0e0452e745a3e">00064</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a6750cf5b9d5f5f6828c0e0452e745a3e">theta234</a>;
<a name="l00065"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a1d2005902d8add7b2220d9daa44df7e2">00065</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#a1d2005902d8add7b2220d9daa44df7e2">b1</a>;
<a name="l00066"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ae22ba13b67ce0b85cbb4e7facc300e21">00066</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#ae22ba13b67ce0b85cbb4e7facc300e21">b2</a>;
<a name="l00067"></a><a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#af6d422fdfe4cd55a000d4e1bd59b6064">00067</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html#af6d422fdfe4cd55a000d4e1bd59b6064">costh3</a>;
<a name="l00068"></a>00068 };
<a name="l00069"></a>00069
<a name="l00070"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a853b7ad97ee80741ac339ab655aee816">00070</a> <span class="keyword">typedef</span> std::vector<angles_calc> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a853b7ad97ee80741ac339ab655aee816">angles_container</a>;
<a name="l00071"></a>00071
<a name="l00072"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#ae8cf778fa79471bc97ebf2c1f5072357">00072</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#ae8cf778fa79471bc97ebf2c1f5072357">_length</a>;
<a name="l00073"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a6f367af5f60c1fa34bde2a87a3b53beb">00073</a> <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a6f367af5f60c1fa34bde2a87a3b53beb">_parameters</a>;
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a62f1ddfc97a190fc4e51149247233270">00075</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">double</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a62f1ddfc97a190fc4e51149247233270">_tolerance</a>; <span class="comment">// initialized in .cpp</span>
<a name="l00076"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#ad6f15f15ea88793adff1ff289a50a04f">00076</a> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#ad6f15f15ea88793adff1ff289a50a04f">_nrOfPossibleSolutions</a>;
<a name="l00077"></a>00077
<a name="l00078"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a6fa51bb233da84fefd6886c43627c25f">00078</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a6fa51bb233da84fefd6886c43627c25f">_setLength</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length) { _length = length; }
<a name="l00079"></a><a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a1ef6a352b29ead9d3178a4ad9cde9ca2">00079</a> <span class="keywordtype">void</span> <a class="code" href="classKNI_1_1KatanaKinematics6M90G.html#a1ef6a352b29ead9d3178a4ad9cde9ca2">_setParameters</a>(<a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters) { _parameters = parameters; }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordtype">void</span> IK_theta234theta5(angles_calc& angle, <span class="keyword">const</span> position &p_gr) <span class="keyword">const</span>;
<a name="l00082"></a>00082 <span class="keywordtype">void</span> IK_b1b2costh3_6MS(angles_calc &a, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="keywordtype">void</span> thetacomp(angles_calc &a, <span class="keyword">const</span> position &p_m) <span class="keyword">const</span>;
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keywordtype">bool</span> angledef(angles_calc &a) <span class="keyword">const</span>;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keywordtype">bool</span> GripperTest(<span class="keyword">const</span> position &p_gr, <span class="keyword">const</span> angles_calc &angle) <span class="keyword">const</span>;
<a name="l00089"></a>00089 <span class="keywordtype">bool</span> AnglePositionTest(<span class="keyword">const</span> angles_calc &a) <span class="keyword">const</span>;
<a name="l00090"></a>00090 <span class="keywordtype">bool</span> PositionTest6MS(<span class="keyword">const</span> angles_calc &a, <span class="keyword">const</span> position &p) <span class="keyword">const</span>;
<a name="l00091"></a>00091
<a name="l00092"></a>00092 };
<a name="l00093"></a>00093
<a name="l00094"></a>00094
<a name="l00095"></a>00095
<a name="l00096"></a>00096
<a name="l00097"></a>00097
<a name="l00098"></a>00098 }
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="preprocessor">#endif</span>
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