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<h1>KNI::KatanaKinematics6M90G Class Reference</h1> </div>
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<!-- doxytag: class="KNI::KatanaKinematics6M90G" --><!-- doxytag: inherits="KNI::KatanaKinematics" -->
<p><code>#include <<a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>></code></p>
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Inheritance diagram for KNI::KatanaKinematics6M90G:</div>
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Collaboration diagram for KNI::KatanaKinematics6M90G:</div>
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<p><a href="classKNI_1_1KatanaKinematics6M90G-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_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#a54ec31221cc800f5bc3d8fc6046f4f4d">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="#a54ec31221cc800f5bc3d8fc6046f4f4d"></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_1KatanaKinematics6M90G.html#aa703f90e3110f512a7e67aee6ca82106">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="#aa703f90e3110f512a7e67aee6ca82106"></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_1KatanaKinematics6M90G.html#a6d5794a11c9778008011fca00bed3492">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="#a6d5794a11c9778008011fca00bed3492"></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_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a853b7ad97ee80741ac339ab655aee816">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_1KatanaKinematics6M90G.html#a6fa51bb233da84fefd6886c43627c25f">_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_1KatanaKinematics6M90G.html#a1ef6a352b29ead9d3178a4ad9cde9ca2">_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_1KatanaKinematics6M90G.html#ac7c61e0b88fcd9bd5186e247edb58444">IK_theta234theta5</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> &angle, const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">position</a> &p_gr) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a6c1dfdd14c86407504ed777a4623c8c4">IK_b1b2costh3_6MS</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#a43789f5d40afe47c0c396f1c7df0d005">thetacomp</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#a124ee84f7f1a78d62087fdb903f41800">angledef</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#ac09a2103a1d8daa58c99acb1d0537674">GripperTest</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">position</a> &p_gr, const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> &angle) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#addfb1d008420e5dc3f4f1490b20bc237">AnglePositionTest</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#a0f0d9ae07c66076f17291101609a2c45">PositionTest6MS</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G.html#ae8cf778fa79471bc97ebf2c1f5072357">_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_1KatanaKinematics6M90G.html#a6f367af5f60c1fa34bde2a87a3b53beb">_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_1KatanaKinematics6M90G.html#a62f1ddfc97a190fc4e51149247233270">_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_1KatanaKinematics6M90G.html#ad6f15f15ea88793adff1ff289a50a04f">_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="KatanaKinematics6M90G_8h_source.html#l00039">39</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
</div><hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a853b7ad97ee80741ac339ab655aee816"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::angles_container" ref="a853b7ad97ee80741ac339ab655aee816" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a>> <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a853b7ad97ee80741ac339ab655aee816">KNI::KatanaKinematics6M90G::angles_container</a><code> [private]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00070">70</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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</div>
<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a6fa51bb233da84fefd6886c43627c25f"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_setLength" ref="a6fa51bb233da84fefd6886c43627c25f" args="(metrics const &length)" -->
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<td class="memname">void KNI::KatanaKinematics6M90G::_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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<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00078">78</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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<a class="anchor" id="a1ef6a352b29ead9d3178a4ad9cde9ca2"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_setParameters" ref="a1ef6a352b29ead9d3178a4ad9cde9ca2" args="(parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics6M90G::_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="KatanaKinematics6M90G_8h_source.html#l00079">79</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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<a class="anchor" id="a124ee84f7f1a78d62087fdb903f41800"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::angledef" ref="a124ee84f7f1a78d62087fdb903f41800" args="(angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90G::angledef </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90G_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="addfb1d008420e5dc3f4f1490b20bc237"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::AnglePositionTest" ref="addfb1d008420e5dc3f4f1490b20bc237" args="(const angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90G::AnglePositionTest </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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="aa703f90e3110f512a7e67aee6ca82106"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::DK" ref="aa703f90e3110f512a7e67aee6ca82106" args="(coordinates &solution, encoders const &current_encoders) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90G::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> 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="ac09a2103a1d8daa58c99acb1d0537674"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::GripperTest" ref="ac09a2103a1d8daa58c99acb1d0537674" args="(const position &p_gr, const angles_calc &angle) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90G::GripperTest </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">position</a> & </td>
<td class="paramname"><em>p_gr</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>angle</em> </td>
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<td></td>
<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="a6d5794a11c9778008011fca00bed3492"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::IK" ref="a6d5794a11c9778008011fca00bed3492" args="(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90G::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="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="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> 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>
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</dd>
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<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="a6c1dfdd14c86407504ed777a4623c8c4"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::IK_b1b2costh3_6MS" ref="a6c1dfdd14c86407504ed777a4623c8c4" args="(angles_calc &a, const position &p) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90G::IK_b1b2costh3_6MS </td>
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G_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="ac7c61e0b88fcd9bd5186e247edb58444"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::IK_theta234theta5" ref="ac7c61e0b88fcd9bd5186e247edb58444" args="(angles_calc &angle, const position &p_gr) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90G::IK_theta234theta5 </td>
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>angle</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1position.html">position</a> & </td>
<td class="paramname"><em>p_gr</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="a54ec31221cc800f5bc3d8fc6046f4f4d"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::init" ref="a54ec31221cc800f5bc3d8fc6046f4f4d" args="(metrics const &length, parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics6M90G::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="a0f0d9ae07c66076f17291101609a2c45"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::PositionTest6MS" ref="a0f0d9ae07c66076f17291101609a2c45" args="(const angles_calc &a, const position &p) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90G::PositionTest6MS </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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_1KatanaKinematics6M90G_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="a43789f5d40afe47c0c396f1c7df0d005"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::thetacomp" ref="a43789f5d40afe47c0c396f1c7df0d005" args="(angles_calc &a, const position &p_m) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90G::thetacomp </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>a</em>, </td>
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<td></td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90G_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="ae8cf778fa79471bc97ebf2c1f5072357"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_length" ref="ae8cf778fa79471bc97ebf2c1f5072357" 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_1KatanaKinematics6M90G.html#ae8cf778fa79471bc97ebf2c1f5072357">KNI::KatanaKinematics6M90G::_length</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00072">72</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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<a class="anchor" id="ad6f15f15ea88793adff1ff289a50a04f"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_nrOfPossibleSolutions" ref="ad6f15f15ea88793adff1ff289a50a04f" args="" -->
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<td class="memname">const int <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#ad6f15f15ea88793adff1ff289a50a04f">KNI::KatanaKinematics6M90G::_nrOfPossibleSolutions</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00076">76</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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<a class="anchor" id="a6f367af5f60c1fa34bde2a87a3b53beb"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_parameters" ref="a6f367af5f60c1fa34bde2a87a3b53beb" 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_1KatanaKinematics6M90G.html#a6f367af5f60c1fa34bde2a87a3b53beb">KNI::KatanaKinematics6M90G::_parameters</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00073">73</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a>.</p>
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<a class="anchor" id="a62f1ddfc97a190fc4e51149247233270"></a><!-- doxytag: member="KNI::KatanaKinematics6M90G::_tolerance" ref="a62f1ddfc97a190fc4e51149247233270" args="" -->
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<td class="memname">const double <a class="el" href="classKNI_1_1KatanaKinematics6M90G.html#a62f1ddfc97a190fc4e51149247233270">KNI::KatanaKinematics6M90G::_tolerance</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90G_8h_source.html#l00075">75</a> of file <a class="el" href="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.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="KatanaKinematics6M90G_8h_source.html">KatanaKinematics6M90G.h</a></li>
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