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<h1>KNI::KatanaKinematics5M180 Class Reference</h1> </div>
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<!-- doxytag: class="KNI::KatanaKinematics5M180" --><!-- doxytag: inherits="KNI::KatanaKinematics" -->
<p><code>#include <<a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for KNI::KatanaKinematics5M180:</div>
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<div class="center"><img src="classKNI_1_1KatanaKinematics5M180__inherit__graph.png" border="0" usemap="#KNI_1_1KatanaKinematics5M180_inherit__map" alt="Inheritance graph"/></div>
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Collaboration diagram for KNI::KatanaKinematics5M180:</div>
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<p><a href="classKNI_1_1KatanaKinematics5M180-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI_1_1KatanaKinematics5M180_1_1angles__calc.html">angles_calc</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structKNI_1_1KatanaKinematics5M180_1_1position.html">position</a></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">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a323ff81ba238b4567ab7702b5f3c1b29">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)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Initialize the parameters for the calculations. <a href="#a323ff81ba238b4567ab7702b5f3c1b29"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a9398449438d7c074f9909bfd621b9183">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 </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Direct Kinematic. <a href="#a9398449438d7c074f9909bfd621b9183"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a7146e41e9ec31c4fa6ad50f771a31735">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 </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inverse Kinematic. <a href="#a7146e41e9ec31c4fa6ad50f771a31735"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pri-types"></a>
Private Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef std::vector< <a class="el" href="structKNI_1_1KatanaKinematics5M180_1_1angles__calc.html">angles_calc</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#af70963f494a067672865cf1c6908538f">angles_container</a></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="classKNI_1_1KatanaKinematics5M180.html#a936cabe2d3055c1ba62123a36b5ec5f7">_setLength</a> (<a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a> const &length)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a5a8641cb7df566af48c4d93b614d02e0">_setParameters</a> (<a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> const &parameters)</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"><a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a2ac48981e81b2e7eca349942b3b75285">_length</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a689ca16052a0dbb0759569b804474f39">_parameters</a></td></tr>
<tr><td colspan="2"><h2><a name="pri-static-attribs"></a>
Static Private Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const double </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#ada34528231b8f8d2bcf1619d84968c56">_tolerance</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const int </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics5M180.html#aada86c27d80f6d33e64431de5e88a0da">_nrOfPossibleSolutions</a></td></tr>
</table>
<hr/><a name="_details"></a><h2>Detailed Description</h2>
<div class="textblock"><dl class="author"><dt><b>Author:</b></dt><dd>Tiziano Mueller <<a href="mailto:tiziano.mueller@neuronics.ch">tiziano.mueller@neuronics.ch</a>> </dd>
<dd>
Christoph Voser <<a href="mailto:christoph.voser@neuronics.ch">christoph.voser@neuronics.ch</a>> </dd></dl>
<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00039">39</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
</div><hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="af70963f494a067672865cf1c6908538f"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::angles_container" ref="af70963f494a067672865cf1c6908538f" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structKNI_1_1KatanaKinematics5M180_1_1angles__calc.html">angles_calc</a>> <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#af70963f494a067672865cf1c6908538f">KNI::KatanaKinematics5M180::angles_container</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00070">70</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a936cabe2d3055c1ba62123a36b5ec5f7"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_setLength" ref="a936cabe2d3055c1ba62123a36b5ec5f7" args="(metrics const &length)" -->
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<td class="memname">void KNI::KatanaKinematics5M180::_setLength </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><td>)</td>
<td><code> [inline, private]</code></td>
</tr>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00078">78</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<a class="anchor" id="a5a8641cb7df566af48c4d93b614d02e0"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_setParameters" ref="a5a8641cb7df566af48c4d93b614d02e0" args="(parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics5M180::_setParameters </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><td>)</td>
<td><code> [inline, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00079">79</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<a class="anchor" id="a9398449438d7c074f9909bfd621b9183"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::DK" ref="a9398449438d7c074f9909bfd621b9183" args="(coordinates &solution, encoders const &current_encoders) const " -->
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<td class="memname">void KNI::KatanaKinematics5M180::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>
</tr>
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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></td><td> const<code> [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>Implements <a class="el" href="classKNI_1_1KatanaKinematics.html#aa066cb488ce11de47e745f1baa7aafbe">KNI::KatanaKinematics</a>.</p>
</div>
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<a class="anchor" id="a7146e41e9ec31c4fa6ad50f771a31735"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::IK" ref="a7146e41e9ec31c4fa6ad50f771a31735" args="(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const " -->
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<td class="memname">void KNI::KatanaKinematics5M180::IK </td>
<td>(</td>
<td class="paramtype">encoders::iterator </td>
<td class="paramname"><em>solution</em>, </td>
</tr>
<tr>
<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>
</tr>
<tr>
<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> [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>Implements <a class="el" href="classKNI_1_1KatanaKinematics.html#a1241bf95185fd35289118550f728801c">KNI::KatanaKinematics</a>.</p>
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<a class="anchor" id="a323ff81ba238b4567ab7702b5f3c1b29"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::init" ref="a323ff81ba238b4567ab7702b5f3c1b29" args="(metrics const &length, parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics5M180::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>
</tr>
<tr>
<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> [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>Implements <a class="el" href="classKNI_1_1KatanaKinematics.html#a2726ea0731d5aecf133bce04b78b8e0a">KNI::KatanaKinematics</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a2ac48981e81b2e7eca349942b3b75285"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_length" ref="a2ac48981e81b2e7eca349942b3b75285" args="" -->
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<td class="memname"><a class="el" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">metrics</a> <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a2ac48981e81b2e7eca349942b3b75285">KNI::KatanaKinematics5M180::_length</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00072">72</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<a class="anchor" id="aada86c27d80f6d33e64431de5e88a0da"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_nrOfPossibleSolutions" ref="aada86c27d80f6d33e64431de5e88a0da" args="" -->
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<td class="memname">const int <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#aada86c27d80f6d33e64431de5e88a0da">KNI::KatanaKinematics5M180::_nrOfPossibleSolutions</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00076">76</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<a class="anchor" id="a689ca16052a0dbb0759569b804474f39"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_parameters" ref="a689ca16052a0dbb0759569b804474f39" args="" -->
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<td class="memname"><a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#a689ca16052a0dbb0759569b804474f39">KNI::KatanaKinematics5M180::_parameters</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00073">73</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a>.</p>
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<a class="anchor" id="ada34528231b8f8d2bcf1619d84968c56"></a><!-- doxytag: member="KNI::KatanaKinematics5M180::_tolerance" ref="ada34528231b8f8d2bcf1619d84968c56" args="" -->
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<td class="memname">const double <a class="el" href="classKNI_1_1KatanaKinematics5M180.html#ada34528231b8f8d2bcf1619d84968c56">KNI::KatanaKinematics5M180::_tolerance</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics5M180_8h_source.html#l00075">75</a> of file <a class="el" href="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</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="KatanaKinematics5M180_8h_source.html">KatanaKinematics5M180.h</a></li>
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<li class="footer">Generated on Tue Feb 8 2011 for KatanaNativeInterface by 
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