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<h1>KNI::KatanaKinematics6M180 Class Reference</h1> </div>
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<!-- doxytag: class="KNI::KatanaKinematics6M180" --><!-- doxytag: inherits="KNI::KatanaKinematics" -->
<p><code>#include <<a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>></code></p>
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Inheritance diagram for KNI::KatanaKinematics6M180:</div>
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Collaboration diagram for KNI::KatanaKinematics6M180:</div>
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<p><a href="classKNI_1_1KatanaKinematics6M180-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_1KatanaKinematics6M180_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_1KatanaKinematics6M180_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_1KatanaKinematics6M180.html#a1b9f9e0ab4183c17e95e75c6de2e5105">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="#a1b9f9e0ab4183c17e95e75c6de2e5105"></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_1KatanaKinematics6M180.html#a996ddcae19579ec2bf0e5c5689d9e4cf">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="#a996ddcae19579ec2bf0e5c5689d9e4cf"></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_1KatanaKinematics6M180.html#abc9ae7175fa4a8b46c771322d2f122bf">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="#abc9ae7175fa4a8b46c771322d2f122bf"></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_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#ad7ee45a6c3fbde791130e9cffa04c77e">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_1KatanaKinematics6M180.html#a6dfabe3dd3a70d20333204e2735cfbcc">_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_1KatanaKinematics6M180.html#ab27dfdd1b4dee24f0d5010c91eb01241">_setParameters</a> (<a class="el" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> const &parameters)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a83ade8020f39e8d9a3ac1b066637e849">IK_b1b2costh3_6M180</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> &p) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#accb46566aee7a352bdffb064755bc027">thetacomp</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> &p_m) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#ada552074bd619217435d2ccdf2f111e6">angledef</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> &a) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a7142875a0851ccf5a800111cb8c44c93">AnglePositionTest</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> &a) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a6507862ca93fb5df4b69c4182023cc62">PositionTest6M180</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> &p) const </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_1KatanaKinematics6M180.html#ac2171b20bbc1c20562cb1f06217300e5">_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_1KatanaKinematics6M180.html#a436da02b8b2554edc69462576cd62eb9">_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_1KatanaKinematics6M180.html#a1ee4dde1b486f224b548c37fb560082e">_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_1KatanaKinematics6M180.html#acf99352ebdf4535abda9db896fc883bb">_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="KatanaKinematics6M180_8h_source.html#l00040">40</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
</div><hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ad7ee45a6c3fbde791130e9cffa04c77e"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::angles_container" ref="ad7ee45a6c3fbde791130e9cffa04c77e" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a>> <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#ad7ee45a6c3fbde791130e9cffa04c77e">KNI::KatanaKinematics6M180::angles_container</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00071">71</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6dfabe3dd3a70d20333204e2735cfbcc"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_setLength" ref="a6dfabe3dd3a70d20333204e2735cfbcc" args="(metrics const &length)" -->
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<td class="memname">void KNI::KatanaKinematics6M180::_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>
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<div class="memdoc">
<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00079">79</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<a class="anchor" id="ab27dfdd1b4dee24f0d5010c91eb01241"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_setParameters" ref="ab27dfdd1b4dee24f0d5010c91eb01241" args="(parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics6M180::_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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<div class="memdoc">
<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00080">80</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<a class="anchor" id="ada552074bd619217435d2ccdf2f111e6"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::angledef" ref="ada552074bd619217435d2ccdf2f111e6" args="(angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M180::angledef </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td> const<code> [private]</code></td>
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<a class="anchor" id="a7142875a0851ccf5a800111cb8c44c93"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::AnglePositionTest" ref="a7142875a0851ccf5a800111cb8c44c93" args="(const angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M180::AnglePositionTest </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em></td><td>)</td>
<td> const<code> [private]</code></td>
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<a class="anchor" id="a996ddcae19579ec2bf0e5c5689d9e4cf"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::DK" ref="a996ddcae19579ec2bf0e5c5689d9e4cf" args="(coordinates &solution, encoders const &current_encoders) const " -->
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<td class="memname">void KNI::KatanaKinematics6M180::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>
<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>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>
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<a class="anchor" id="abc9ae7175fa4a8b46c771322d2f122bf"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::IK" ref="abc9ae7175fa4a8b46c771322d2f122bf" args="(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const " -->
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<td class="memname">void KNI::KatanaKinematics6M180::IK </td>
<td>(</td>
<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> 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="a83ade8020f39e8d9a3ac1b066637e849"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::IK_b1b2costh3_6M180" ref="a83ade8020f39e8d9a3ac1b066637e849" args="(angles_calc &a, const position &p) const " -->
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<td class="memname">void KNI::KatanaKinematics6M180::IK_b1b2costh3_6M180 </td>
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em>, </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> & </td>
<td class="paramname"><em>p</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="a1b9f9e0ab4183c17e95e75c6de2e5105"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::init" ref="a1b9f9e0ab4183c17e95e75c6de2e5105" args="(metrics const &length, parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics6M180::init </td>
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<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="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><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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<a class="anchor" id="a6507862ca93fb5df4b69c4182023cc62"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::PositionTest6M180" ref="a6507862ca93fb5df4b69c4182023cc62" args="(const angles_calc &a, const position &p) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M180::PositionTest6M180 </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> & </td>
<td class="paramname"><em>p</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="accb46566aee7a352bdffb064755bc027"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::thetacomp" ref="accb46566aee7a352bdffb064755bc027" args="(angles_calc &a, const position &p_m) const " -->
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<td class="memname">void KNI::KatanaKinematics6M180::thetacomp </td>
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em>, </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M180_1_1position.html">position</a> & </td>
<td class="paramname"><em>p_m</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="ac2171b20bbc1c20562cb1f06217300e5"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_length" ref="ac2171b20bbc1c20562cb1f06217300e5" 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_1KatanaKinematics6M180.html#ac2171b20bbc1c20562cb1f06217300e5">KNI::KatanaKinematics6M180::_length</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00073">73</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<a class="anchor" id="acf99352ebdf4535abda9db896fc883bb"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_nrOfPossibleSolutions" ref="acf99352ebdf4535abda9db896fc883bb" args="" -->
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<td class="memname">const int <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#acf99352ebdf4535abda9db896fc883bb">KNI::KatanaKinematics6M180::_nrOfPossibleSolutions</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00077">77</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<a class="anchor" id="a436da02b8b2554edc69462576cd62eb9"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_parameters" ref="a436da02b8b2554edc69462576cd62eb9" 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_1KatanaKinematics6M180.html#a436da02b8b2554edc69462576cd62eb9">KNI::KatanaKinematics6M180::_parameters</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00074">74</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a>.</p>
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<a class="anchor" id="a1ee4dde1b486f224b548c37fb560082e"></a><!-- doxytag: member="KNI::KatanaKinematics6M180::_tolerance" ref="a1ee4dde1b486f224b548c37fb560082e" args="" -->
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<td class="memname">const double <a class="el" href="classKNI_1_1KatanaKinematics6M180.html#a1ee4dde1b486f224b548c37fb560082e">KNI::KatanaKinematics6M180::_tolerance</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M180_8h_source.html#l00076">76</a> of file <a class="el" href="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.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="KatanaKinematics6M180_8h_source.html">KatanaKinematics6M180.h</a></li>
</ul>
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