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<h1>KNI::KatanaKinematics Class Reference</h1> </div>
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<!-- doxytag: class="KNI::KatanaKinematics" -->
<p>The base class for all kinematic implementations.
<a href="#_details">More...</a></p>
<p><code>#include <<a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for KNI::KatanaKinematics:</div>
<div class="dyncontent">
<div class="center"><img src="classKNI_1_1KatanaKinematics__inherit__graph.png" border="0" usemap="#KNI_1_1KatanaKinematics_inherit__map" alt="Inheritance graph"/></div>
<map name="KNI_1_1KatanaKinematics_inherit__map" id="KNI_1_1KatanaKinematics_inherit__map">
<area shape="rect" id="node3" href="classKNI_1_1KatanaKinematics5M180.html" title="{KNI::KatanaKinematics5M180\n|- _length\l- _parameters\l- _tolerance\l- _nrOfPossibleSolutions\l|+ init()\l+ DK()\l+ IK()\l- _setLength()\l- _setParameters()\l}" alt="" coords="5,262,203,469"/><area shape="rect" id="node5" href="classKNI_1_1KatanaKinematics6M180.html" title="{KNI::KatanaKinematics6M180\n|- _length\l- _parameters\l- _tolerance\l- _nrOfPossibleSolutions\l|+ init()\l+ DK()\l+ IK()\l- _setLength()\l- _setParameters()\l- IK_b1b2costh3_6M180()\l- thetacomp()\l- angledef()\l- AnglePositionTest()\l- PositionTest6M180()\l}" alt="" coords="227,219,424,512"/><area shape="rect" id="node7" href="classKNI_1_1KatanaKinematics6M90G.html" title="{KNI::KatanaKinematics6M90G\n|- _length\l- _parameters\l- _tolerance\l- _nrOfPossibleSolutions\l|+ init()\l+ DK()\l+ IK()\l- _setLength()\l- _setParameters()\l- IK_theta234theta5()\l- IK_b1b2costh3_6MS()\l- thetacomp()\l- angledef()\l- GripperTest()\l- AnglePositionTest()\l- PositionTest6MS()\l}" alt="" coords="448,201,648,529"/><area shape="rect" id="node9" href="classKNI_1_1KatanaKinematics6M90T.html" title="{KNI::KatanaKinematics6M90T\n|- _length\l- _parameters\l- _tolerance\l- _nrOfPossibleSolutions\l|+ init()\l+ DK()\l+ IK()\l- _setLength()\l- _setParameters()\l- IK_theta234theta5()\l- IK_b1b2costh3_6MS()\l- thetacomp()\l- angledef()\l- GripperTest()\l- AnglePositionTest()\l- PositionTest6MS()\l- findFirstEqualAngle()\l}" alt="" coords="672,193,869,538"/></map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classKNI_1_1KatanaKinematics-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector<br class="typebreak"/>
< <a class="el" href="structKNI_1_1KinematicParameters.html">KinematicParameters</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">angles</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Being used to store angles (in radian). <a href="#a0b2788ad2c6eff185eb7514f23eb4016"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To store coordinates. <a href="#a0404127da683eb9bcf8af40ae5447ec9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To store metrics, 'aka' the length's of the different segments of the robot. <a href="#a91f476c58d1a8687ce54e62aa42867e9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">encoders</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">To store encoders. <a href="#a8a37a2257499ced0704365e46dc28f2b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a9580cb66cbdc741504b4b68c2d5e98ed">~KatanaKinematics</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a2726ea0731d5aecf133bce04b78b8e0a">init</a> (<a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a> const &length, <a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> const &parameters)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters for the calculations. <a href="#a2726ea0731d5aecf133bce04b78b8e0a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#aa066cb488ce11de47e745f1baa7aafbe">DK</a> (<a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> &solution, <a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">encoders</a> const &current_encoders) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Direct Kinematic. <a href="#aa066cb488ce11de47e745f1baa7aafbe"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics.html#a1241bf95185fd35289118550f728801c">IK</a> (encoders::iterator solution, <a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> const &pose, <a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">encoders</a> const &cur_angles) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inverse Kinematic. <a href="#a1241bf95185fd35289118550f728801c"></a><br/></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>The base class for all kinematic implementations. </p>
<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00063">63</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
</div><hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a0b2788ad2c6eff185eb7514f23eb4016"></a><!-- doxytag: member="KNI::KatanaKinematics::angles" ref="a0b2788ad2c6eff185eb7514f23eb4016" args="" -->
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<td class="memname">typedef std::vector<double> <a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">KNI::KatanaKinematics::angles</a></td>
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<p>Being used to store angles (in radian). </p>
<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00071">71</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<a class="anchor" id="a0404127da683eb9bcf8af40ae5447ec9"></a><!-- doxytag: member="KNI::KatanaKinematics::coordinates" ref="a0404127da683eb9bcf8af40ae5447ec9" args="" -->
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<td class="memname">typedef std::vector<double> <a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">KNI::KatanaKinematics::coordinates</a></td>
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<p>To store coordinates. </p>
<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00074">74</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<a class="anchor" id="a8a37a2257499ced0704365e46dc28f2b"></a><!-- doxytag: member="KNI::KatanaKinematics::encoders" ref="a8a37a2257499ced0704365e46dc28f2b" args="" -->
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<td class="memname">typedef std::vector<int> <a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">KNI::KatanaKinematics::encoders</a></td>
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<p>To store encoders. </p>
<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00080">80</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<a class="anchor" id="a91f476c58d1a8687ce54e62aa42867e9"></a><!-- doxytag: member="KNI::KatanaKinematics::metrics" ref="a91f476c58d1a8687ce54e62aa42867e9" args="" -->
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<td class="memname">typedef std::vector<double> <a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">KNI::KatanaKinematics::metrics</a></td>
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<p>To store metrics, 'aka' the length's of the different segments of the robot. </p>
<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00077">77</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<a class="anchor" id="a32e599cd9a1f56d3907fc0becb4cfdf5"></a><!-- doxytag: member="KNI::KatanaKinematics::parameter_container" ref="a32e599cd9a1f56d3907fc0becb4cfdf5" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structKNI_1_1KinematicParameters.html">KinematicParameters</a>> <a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">KNI::KatanaKinematics::parameter_container</a></td>
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<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00067">67</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a9580cb66cbdc741504b4b68c2d5e98ed"></a><!-- doxytag: member="KNI::KatanaKinematics::~KatanaKinematics" ref="a9580cb66cbdc741504b4b68c2d5e98ed" args="()" -->
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<td class="memname">virtual KNI::KatanaKinematics::~KatanaKinematics </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline, virtual]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics_8h_source.html#l00065">65</a> of file <a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="aa066cb488ce11de47e745f1baa7aafbe"></a><!-- doxytag: member="KNI::KatanaKinematics::DK" ref="aa066cb488ce11de47e745f1baa7aafbe" args="(coordinates &solution, encoders const &current_encoders) const =0" -->
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<td class="memname">virtual void KNI::KatanaKinematics::DK </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> & </td>
<td class="paramname"><em>solution</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">encoders</a> const & </td>
<td class="paramname"><em>current_encoders</em> </td>
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<td>)</td>
<td></td><td> const<code> [pure virtual]</code></td>
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<p>Direct Kinematic. </p>
<p>Calculates the actual position in cartesian coordinates using the given encoders </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">solution</td><td>This is where the algorithm will store the solution to (in cartesian coordinates) </td></tr>
<tr><td class="paramname">current_encoders</td><td>The encoder values which are being used for the calculation </td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>strong guarantee provided </dd></dl>
<p>Implemented in <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a9398449438d7c074f9909bfd621b9183">KNI::KatanaKinematics5M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a996ddcae19579ec2bf0e5c5689d9e4cf">KNI::KatanaKinematics6M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#aa703f90e3110f512a7e67aee6ca82106">KNI::KatanaKinematics6M90G</a>, and <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a337da8473743e6997c56f4a609710660">KNI::KatanaKinematics6M90T</a>.</p>
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<a class="anchor" id="a1241bf95185fd35289118550f728801c"></a><!-- doxytag: member="KNI::KatanaKinematics::IK" ref="a1241bf95185fd35289118550f728801c" args="(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const =0" -->
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<td class="memname">virtual void KNI::KatanaKinematics::IK </td>
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<td class="paramtype">encoders::iterator </td>
<td class="paramname"><em>solution</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> const & </td>
<td class="paramname"><em>pose</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">encoders</a> const & </td>
<td class="paramname"><em>cur_angles</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [pure virtual]</code></td>
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<p>Inverse Kinematic. </p>
<p>Calculates one set of encoders (=one solution) for the given cartesian coordinates. You also have to provide the current encoders to allow the algorithm to choose between different valid solutions. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">solution</td><td>This is where the algorithm will store the solution to (in encoders) </td></tr>
<tr><td class="paramname">pose</td><td>The target position in cartesian coordinates plus the euler angles for the direction of the gripper </td></tr>
<tr><td class="paramname">cur_angles</td><td>The current angles (in encoders) of the robot </td></tr>
</table>
</dd>
</dl>
<dl class="note"><dt><b>Note:</b></dt><dd>strong guarantee provided </dd></dl>
<p>Implemented in <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a7146e41e9ec31c4fa6ad50f771a31735">KNI::KatanaKinematics5M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#abc9ae7175fa4a8b46c771322d2f122bf">KNI::KatanaKinematics6M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a6d5794a11c9778008011fca00bed3492">KNI::KatanaKinematics6M90G</a>, and <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a703926424ad40975084c81b3bf2968db">KNI::KatanaKinematics6M90T</a>.</p>
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<a class="anchor" id="a2726ea0731d5aecf133bce04b78b8e0a"></a><!-- doxytag: member="KNI::KatanaKinematics::init" ref="a2726ea0731d5aecf133bce04b78b8e0a" args="(metrics const &length, parameter_container const &parameters)=0" -->
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<td class="memname">virtual void KNI::KatanaKinematics::init </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a> const & </td>
<td class="paramname"><em>length</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> const & </td>
<td class="paramname"><em>parameters</em> </td>
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<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
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<p>Initialize the parameters for the calculations. </p>
<p>This is needed to validate the calculated angles and to choose an appropriate solution You have to provide 5 or 6 length's and parameters, depending on you robot type </p>
<p>Implemented in <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a323ff81ba238b4567ab7702b5f3c1b29">KNI::KatanaKinematics5M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a1b9f9e0ab4183c17e95e75c6de2e5105">KNI::KatanaKinematics6M180</a>, <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a54ec31221cc800f5bc3d8fc6046f4f4d">KNI::KatanaKinematics6M90G</a>, and <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a30e21a4d14c77c0495831885e3c05e34">KNI::KatanaKinematics6M90T</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>include/KNI_InvKin/<a class="el" href="KatanaKinematics_8h_source.html">KatanaKinematics.h</a></li>
</ul>
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<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
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