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<h1>KNI::KatanaKinematics6M90T Class Reference</h1> </div>
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<!-- doxytag: class="KNI::KatanaKinematics6M90T" --><!-- doxytag: inherits="KNI::KatanaKinematics" -->
<p><code>#include <<a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>></code></p>
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Inheritance diagram for KNI::KatanaKinematics6M90T:</div>
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Collaboration diagram for KNI::KatanaKinematics6M90T:</div>
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<p><a href="classKNI_1_1KatanaKinematics6M90T-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_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#a30e21a4d14c77c0495831885e3c05e34">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="#a30e21a4d14c77c0495831885e3c05e34"></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_1KatanaKinematics6M90T.html#a337da8473743e6997c56f4a609710660">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="#a337da8473743e6997c56f4a609710660"></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_1KatanaKinematics6M90T.html#a703926424ad40975084c81b3bf2968db">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="#a703926424ad40975084c81b3bf2968db"></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_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a6523031a60d093b90242f547876bffc3">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_1KatanaKinematics6M90T.html#ab25102503a9d18938b5d02be1a76e222">_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_1KatanaKinematics6M90T.html#a281f2823ad661a3d16cb579f2434ca9a">_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_1KatanaKinematics6M90T.html#aa997bd0adf728760be922b846c8da7bb">IK_theta234theta5</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> &angle, const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#ad0366e5c678c35e13466ce04520dfa6f">IK_b1b2costh3_6MS</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#ae3fb499137aeecd7f99d7ceb4425dc76">thetacomp</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> &a, const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">position</a> &p_m, const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> &pose) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a3d570a2719e50950550930b432ecda83">angledef</a> (<a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#af9940e56855f3e14675e2a3380523eb0">GripperTest</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">position</a> &p_gr, const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#a0c0d8674cfefe9cfe8c7d0525117afb4">AnglePositionTest</a> (const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T.html#a99aaeb23cd428adb9d27cbdf60dfc399">PositionTest6MS</a> (const double &theta1, const double &theta2, const double &theta3, const double &theta234, const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">position</a> &p) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a02c403370c29c786e7484d515cc3a330">findFirstEqualAngle</a> (const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">angles</a> &v1, const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">angles</a> &v2) 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_1KatanaKinematics6M90T.html#af471da4d42eea60de96eb953b38d3bf9">_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_1KatanaKinematics6M90T.html#a2ee8de7a7716d229bfac1ad30eb4ebd3">_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_1KatanaKinematics6M90T.html#aa2969143ad573ceb471b2cdd90f8fb8a">_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_1KatanaKinematics6M90T.html#a53fcaaa9de3769f51e87be392e7e3a6c">_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="KatanaKinematics6M90T_8h_source.html#l00039">39</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
</div><hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a6523031a60d093b90242f547876bffc3"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::angles_container" ref="a6523031a60d093b90242f547876bffc3" args="" -->
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<td class="memname">typedef std::vector<<a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a>> <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a6523031a60d093b90242f547876bffc3">KNI::KatanaKinematics6M90T::angles_container</a><code> [private]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="KatanaKinematics6M90T_8h_source.html#l00071">71</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ab25102503a9d18938b5d02be1a76e222"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_setLength" ref="ab25102503a9d18938b5d02be1a76e222" args="(metrics const &length)" -->
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<td class="memname">void KNI::KatanaKinematics6M90T::_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="KatanaKinematics6M90T_8h_source.html#l00079">79</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<a class="anchor" id="a281f2823ad661a3d16cb579f2434ca9a"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_setParameters" ref="a281f2823ad661a3d16cb579f2434ca9a" args="(parameter_container const &parameters)" -->
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<td class="memname">void KNI::KatanaKinematics6M90T::_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="KatanaKinematics6M90T_8h_source.html#l00080">80</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<a class="anchor" id="a3d570a2719e50950550930b432ecda83"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::angledef" ref="a3d570a2719e50950550930b432ecda83" args="(angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90T::angledef </td>
<td>(</td>
<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90T_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="a0c0d8674cfefe9cfe8c7d0525117afb4"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::AnglePositionTest" ref="a0c0d8674cfefe9cfe8c7d0525117afb4" args="(const angles_calc &a) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90T::AnglePositionTest </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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="a337da8473743e6997c56f4a609710660"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::DK" ref="a337da8473743e6997c56f4a609710660" args="(coordinates &solution, encoders const &current_encoders) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90T::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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<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="a02c403370c29c786e7484d515cc3a330"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::findFirstEqualAngle" ref="a02c403370c29c786e7484d515cc3a330" args="(const angles &v1, const angles &v2) const " -->
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<td class="memname">double KNI::KatanaKinematics6M90T::findFirstEqualAngle </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">angles</a> & </td>
<td class="paramname"><em>v1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">angles</a> & </td>
<td class="paramname"><em>v2</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="af9940e56855f3e14675e2a3380523eb0"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::GripperTest" ref="af9940e56855f3e14675e2a3380523eb0" args="(const position &p_gr, const angles_calc &angle) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90T::GripperTest </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1position.html">position</a> & </td>
<td class="paramname"><em>p_gr</em>, </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html">angles_calc</a> & </td>
<td class="paramname"><em>angle</em> </td>
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<td>)</td>
<td></td><td> const<code> [private]</code></td>
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<a class="anchor" id="a703926424ad40975084c81b3bf2968db"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::IK" ref="a703926424ad40975084c81b3bf2968db" args="(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const " -->
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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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<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>
</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="ad0366e5c678c35e13466ce04520dfa6f"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::IK_b1b2costh3_6MS" ref="ad0366e5c678c35e13466ce04520dfa6f" args="(angles_calc &a, const position &p) const " -->
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T_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="aa997bd0adf728760be922b846c8da7bb"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::IK_theta234theta5" ref="aa997bd0adf728760be922b846c8da7bb" args="(angles_calc &angle, const position &p_gr) const " -->
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<td class="memname">void KNI::KatanaKinematics6M90T::IK_theta234theta5 </td>
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T_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="a30e21a4d14c77c0495831885e3c05e34"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::init" ref="a30e21a4d14c77c0495831885e3c05e34" args="(metrics const &length, parameter_container const &parameters)" -->
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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="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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<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="a99aaeb23cd428adb9d27cbdf60dfc399"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::PositionTest6MS" ref="a99aaeb23cd428adb9d27cbdf60dfc399" args="(const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const " -->
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<td class="memname">bool KNI::KatanaKinematics6M90T::PositionTest6MS </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>theta1</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>theta2</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>theta3</em>, </td>
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<td class="paramtype">const double & </td>
<td class="paramname"><em>theta234</em>, </td>
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<td class="paramtype">const <a class="el" href="structKNI_1_1KatanaKinematics6M90T_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="ae3fb499137aeecd7f99d7ceb4425dc76"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::thetacomp" ref="ae3fb499137aeecd7f99d7ceb4425dc76" args="(angles_calc &a, const position &p_m, const coordinates &pose) const " -->
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<td class="paramtype"><a class="el" href="structKNI_1_1KatanaKinematics6M90T_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_1KatanaKinematics6M90T_1_1position.html">position</a> & </td>
<td class="paramname"><em>p_m</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">coordinates</a> & </td>
<td class="paramname"><em>pose</em> </td>
</tr>
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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="af471da4d42eea60de96eb953b38d3bf9"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_length" ref="af471da4d42eea60de96eb953b38d3bf9" 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_1KatanaKinematics6M90T.html#af471da4d42eea60de96eb953b38d3bf9">KNI::KatanaKinematics6M90T::_length</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90T_8h_source.html#l00073">73</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<a class="anchor" id="a53fcaaa9de3769f51e87be392e7e3a6c"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_nrOfPossibleSolutions" ref="a53fcaaa9de3769f51e87be392e7e3a6c" args="" -->
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<td class="memname">const int <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#a53fcaaa9de3769f51e87be392e7e3a6c">KNI::KatanaKinematics6M90T::_nrOfPossibleSolutions</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90T_8h_source.html#l00077">77</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<a class="anchor" id="a2ee8de7a7716d229bfac1ad30eb4ebd3"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_parameters" ref="a2ee8de7a7716d229bfac1ad30eb4ebd3" 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_1KatanaKinematics6M90T.html#a2ee8de7a7716d229bfac1ad30eb4ebd3">KNI::KatanaKinematics6M90T::_parameters</a><code> [private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90T_8h_source.html#l00074">74</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a>.</p>
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<a class="anchor" id="aa2969143ad573ceb471b2cdd90f8fb8a"></a><!-- doxytag: member="KNI::KatanaKinematics6M90T::_tolerance" ref="aa2969143ad573ceb471b2cdd90f8fb8a" args="" -->
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<td class="memname">const double <a class="el" href="classKNI_1_1KatanaKinematics6M90T.html#aa2969143ad573ceb471b2cdd90f8fb8a">KNI::KatanaKinematics6M90T::_tolerance</a><code> [static, private]</code></td>
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<p>Definition at line <a class="el" href="KatanaKinematics6M90T_8h_source.html#l00076">76</a> of file <a class="el" href="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.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="KatanaKinematics6M90T_8h_source.html">KatanaKinematics6M90T.h</a></li>
</ul>
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