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<h1>KatanaKinematics.h</h1> </div>
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<a href="KatanaKinematics_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/***************************************************************************</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2006 by Tiziano Mueller *</span>
<a name="l00003"></a>00003 <span class="comment"> * tiziano.mueller@neuronics.ch *</span>
<a name="l00004"></a>00004 <span class="comment"> * *</span>
<a name="l00005"></a>00005 <span class="comment"> * This program is free software; you can redistribute it and/or modify *</span>
<a name="l00006"></a>00006 <span class="comment"> * it under the terms of the GNU General Public License as published by *</span>
<a name="l00007"></a>00007 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or *</span>
<a name="l00008"></a>00008 <span class="comment"> * (at your option) any later version. *</span>
<a name="l00009"></a>00009 <span class="comment"> * *</span>
<a name="l00010"></a>00010 <span class="comment"> * This program is distributed in the hope that it will be useful, *</span>
<a name="l00011"></a>00011 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of *</span>
<a name="l00012"></a>00012 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *</span>
<a name="l00013"></a>00013 <span class="comment"> * GNU General Public License for more details. *</span>
<a name="l00014"></a>00014 <span class="comment"> * *</span>
<a name="l00015"></a>00015 <span class="comment"> * You should have received a copy of the GNU General Public License *</span>
<a name="l00016"></a>00016 <span class="comment"> * along with this program; if not, write to the *</span>
<a name="l00017"></a>00017 <span class="comment"> * Free Software Foundation, Inc., *</span>
<a name="l00018"></a>00018 <span class="comment"> * 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. *</span>
<a name="l00019"></a>00019 <span class="comment"> ***************************************************************************/</span>
<a name="l00020"></a>00020 <span class="preprocessor">#ifndef KATANAKINEMATICS_H</span>
<a name="l00021"></a>00021 <span class="preprocessor"></span><span class="preprocessor">#define KATANAKINEMATICS_H</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span>
<a name="l00023"></a>00023 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00024"></a>00024 <span class="preprocessor">#include "common/exception.h"</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#include <vector></span>
<a name="l00027"></a>00027
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="keyword">namespace </span>KNI {
<a name="l00030"></a>00030
<a name="l00035"></a>00035
<a name="l00036"></a>00036
<a name="l00039"></a><a class="code" href="classKNI_1_1NoSolutionException.html">00039</a> <span class="keyword">class </span><a class="code" href="classKNI_1_1NoSolutionException.html" title="No solution found for the given cartesian coordinates.">NoSolutionException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00040"></a>00040 <span class="keyword">public</span>:
<a name="l00041"></a><a class="code" href="classKNI_1_1NoSolutionException.html#a454f42e1fcf475c9106c53d7ab99614f">00041</a> <a class="code" href="classKNI_1_1NoSolutionException.html#a454f42e1fcf475c9106c53d7ab99614f">NoSolutionException</a>() throw():
<a name="l00042"></a>00042 <a class="code" href="classException.html">Exception</a>("No solution found", -60) {}
<a name="l00043"></a>00043
<a name="l00044"></a>00044 };
<a name="l00045"></a>00045
<a name="l00049"></a>00049
<a name="l00053"></a><a class="code" href="structKNI_1_1KinematicParameters.html">00053</a> <span class="keyword">struct </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="structKNI_1_1KinematicParameters.html" title="To pass different parameters for the kinematic implementations.">KinematicParameters</a> {
<a name="l00054"></a><a class="code" href="structKNI_1_1KinematicParameters.html#ae2340b3fe9c6d3e58b68f5ebdefbc4b9">00054</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KinematicParameters.html#ae2340b3fe9c6d3e58b68f5ebdefbc4b9">angleOffset</a>;
<a name="l00055"></a><a class="code" href="structKNI_1_1KinematicParameters.html#abdee5721d6c121d7a2e410e4b5cf36e2">00055</a> <span class="keywordtype">double</span> <a class="code" href="structKNI_1_1KinematicParameters.html#abdee5721d6c121d7a2e410e4b5cf36e2">angleStop</a>;
<a name="l00056"></a><a class="code" href="structKNI_1_1KinematicParameters.html#a57bd277b2efa274c7759f2f78ee1d69a">00056</a> <span class="keywordtype">int</span> <a class="code" href="structKNI_1_1KinematicParameters.html#a57bd277b2efa274c7759f2f78ee1d69a">epc</a>;
<a name="l00057"></a><a class="code" href="structKNI_1_1KinematicParameters.html#a53842a06aca79bb6c6f3d302a1f79f9e">00057</a> <span class="keywordtype">int</span> <a class="code" href="structKNI_1_1KinematicParameters.html#a53842a06aca79bb6c6f3d302a1f79f9e">encOffset</a>;
<a name="l00058"></a><a class="code" href="structKNI_1_1KinematicParameters.html#abd95381524f9986c64ae2b7d1f7299a6">00058</a> <span class="keywordtype">int</span> <a class="code" href="structKNI_1_1KinematicParameters.html#abd95381524f9986c64ae2b7d1f7299a6">rotDir</a>;
<a name="l00059"></a>00059 };
<a name="l00060"></a>00060
<a name="l00063"></a><a class="code" href="classKNI_1_1KatanaKinematics.html">00063</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="classKNI_1_1KatanaKinematics.html" title="The base class for all kinematic implementations.">KatanaKinematics</a> {
<a name="l00064"></a>00064 <span class="keyword">public</span>:
<a name="l00065"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a9580cb66cbdc741504b4b68c2d5e98ed">00065</a> <span class="keyword">virtual</span> <a class="code" href="classKNI_1_1KatanaKinematics.html#a9580cb66cbdc741504b4b68c2d5e98ed">~KatanaKinematics</a>() {}
<a name="l00066"></a>00066
<a name="l00067"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">00067</a> <span class="keyword">typedef</span> std::vector<KinematicParameters> <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a>;
<a name="l00068"></a>00068
<a name="l00071"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016">00071</a> <span class="keyword">typedef</span> std::vector<double> <a class="code" href="classKNI_1_1KatanaKinematics.html#a0b2788ad2c6eff185eb7514f23eb4016" title="Being used to store angles (in radian).">angles</a>;
<a name="l00074"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9">00074</a> <span class="keyword">typedef</span> std::vector<double> <a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a>;
<a name="l00077"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9">00077</a> <span class="keyword">typedef</span> std::vector<double> <a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a>;
<a name="l00080"></a><a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b">00080</a> <span class="keyword">typedef</span> std::vector<int> <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a>;
<a name="l00081"></a>00081
<a name="l00085"></a>00085 <span class="keyword">virtual</span> <span class="keywordtype">void</span> init(<a class="code" href="classKNI_1_1KatanaKinematics.html#a91f476c58d1a8687ce54e62aa42867e9" title="To store metrics, &#39;aka&#39; the length&#39;s of the different segments of the robot...">metrics</a> <span class="keyword">const</span>& length, <a class="code" href="classKNI_1_1KatanaKinematics.html#a32e599cd9a1f56d3907fc0becb4cfdf5">parameter_container</a> <span class="keyword">const</span>& parameters) = 0;
<a name="l00086"></a>00086
<a name="l00092"></a>00092 <span class="keyword">virtual</span> <span class="keywordtype">void</span> DK(<a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a>& solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& current_encoders) <span class="keyword">const</span> = 0;
<a name="l00093"></a>00093
<a name="l00102"></a>00102 <span class="keyword">virtual</span> <span class="keywordtype">void</span> IK(encoders::iterator solution, <a class="code" href="classKNI_1_1KatanaKinematics.html#a0404127da683eb9bcf8af40ae5447ec9" title="To store coordinates.">coordinates</a> <span class="keyword">const</span>& pose, <a class="code" href="classKNI_1_1KatanaKinematics.html#a8a37a2257499ced0704365e46dc28f2b" title="To store encoders.">encoders</a> <span class="keyword">const</span>& cur_angles) <span class="keyword">const</span> = 0;
<a name="l00103"></a>00103
<a name="l00104"></a>00104 };
<a name="l00105"></a>00105
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="preprocessor">#endif</span>
<a name="l00109"></a>00109 <span class="preprocessor"></span>
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