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<h1>ikBase.h</h1> </div>
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<a href="ikBase_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"> * Katana Native Interface - A C++ interface to the robot arm Katana.</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2005 Neuronics AG</span>
<a name="l00004"></a>00004 <span class="comment"> * Check out the AUTHORS file for detailed contact information.</span>
<a name="l00005"></a>00005 <span class="comment"> *</span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00007"></a>00007 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00008"></a>00008 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00009"></a>00009 <span class="comment"> * (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> *</span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> *</span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 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
<a name="l00021"></a>00021 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00022"></a>00022 <span class="preprocessor">#ifndef _IKBASE_H_</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span><span class="preprocessor">#define _IKBASE_H_</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="comment">/******************************************************************************************************************/</span>
<a name="l00025"></a>00025
<a name="l00026"></a>00026 <span class="preprocessor">#include "common/exception.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#include "KNI/kmlExt.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "KNI/kmlCommon.h"</span>
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="preprocessor">#include "KNI_InvKin/KatanaKinematics.h"</span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="preprocessor">#include <vector></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <memory></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="preprocessor">#ifndef TM_ENDLESS</span>
<a name="l00040"></a><a class="code" href="ikBase_8h.html#ad6ffe504357959900a023228f12b10ae">00040</a> <span class="preprocessor"></span><span class="preprocessor">#define TM_ENDLESS -1 //!< timeout symbol for 'endless' waiting</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="classCikBase.html">00044</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#a9a0b7df7fcfa890f10d12f281f25ecfa">DLLDIR_IK</a> <a class="code" href="classCikBase.html">CikBase</a> : <span class="keyword">public</span> <a class="code" href="classCKatana.html" title="Extended Katana class with additional functions.">CKatana</a> {
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">private</span>:
<a name="l00047"></a><a class="code" href="classCikBase.html#affb26c40aeaa01792a99fd72c804b46f">00047</a> std::auto_ptr<KNI::KatanaKinematics> <a class="code" href="classCikBase.html#affb26c40aeaa01792a99fd72c804b46f">_kinematicsImpl</a>;
<a name="l00048"></a><a class="code" href="classCikBase.html#a69d4d16d46e69d842690a0d7dc0126bd">00048</a> <span class="keywordtype">bool</span> <a class="code" href="classCikBase.html#a69d4d16d46e69d842690a0d7dc0126bd">_kinematicsIsInitialized</a>;
<a name="l00049"></a>00049 <span class="keywordtype">void</span> _initKinematics();
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">public</span>:
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classCikBase.html#adcbb7baef95a11a1d07ffb00d2175518">00053</a> <a class="code" href="classCikBase.html#adcbb7baef95a11a1d07ffb00d2175518">CikBase</a>() : _kinematicsIsInitialized(false) { };
<a name="l00054"></a><a class="code" href="classCikBase.html#a485fca6a17129a207119be70bed712e1">00054</a> <a class="code" href="classCikBase.html#a485fca6a17129a207119be70bed712e1">~CikBase</a>() {}
<a name="l00055"></a>00055
<a name="l00058"></a>00058 <span class="keywordtype">void</span> DKApos(<span class="keywordtype">double</span>* position);
<a name="l00059"></a>00059
<a name="l00064"></a>00064 <span class="keywordtype">void</span> getCoordinates(<span class="keywordtype">double</span>& x, <span class="keywordtype">double</span>& y, <span class="keywordtype">double</span>& z, <span class="keywordtype">double</span>& phi, <span class="keywordtype">double</span>& theta, <span class="keywordtype">double</span>& psi, <span class="keywordtype">bool</span> refreshEncoders = <span class="keyword">true</span>);
<a name="l00065"></a>00065
<a name="l00069"></a>00069 <span class="keywordtype">void</span> IKCalculate(<span class="keywordtype">double</span> X,
<a name="l00070"></a>00070 <span class="keywordtype">double</span> Y,
<a name="l00071"></a>00071 <span class="keywordtype">double</span> Z,
<a name="l00072"></a>00072 <span class="keywordtype">double</span> Al,
<a name="l00073"></a>00073 <span class="keywordtype">double</span> Be,
<a name="l00074"></a>00074 <span class="keywordtype">double</span> Ga,
<a name="l00075"></a>00075 std::vector<int>::iterator solution_iter);
<a name="l00076"></a>00076
<a name="l00080"></a>00080 <span class="keywordtype">void</span> IKCalculate(<span class="keywordtype">double</span> X,
<a name="l00081"></a>00081 <span class="keywordtype">double</span> Y,
<a name="l00082"></a>00082 <span class="keywordtype">double</span> Z,
<a name="l00083"></a>00083 <span class="keywordtype">double</span> Al,
<a name="l00084"></a>00084 <span class="keywordtype">double</span> Be,
<a name="l00085"></a>00085 <span class="keywordtype">double</span> Ga,
<a name="l00086"></a>00086 std::vector<int>::iterator solution_iter,
<a name="l00087"></a>00087 <span class="keyword">const</span> std::vector<int>& actualPosition );
<a name="l00088"></a>00088
<a name="l00091"></a>00091 <span class="keywordtype">void</span> IKGoto(<span class="keywordtype">double</span> X,
<a name="l00092"></a>00092 <span class="keywordtype">double</span> Y,
<a name="l00093"></a>00093 <span class="keywordtype">double</span> Z,
<a name="l00094"></a>00094 <span class="keywordtype">double</span> Al,
<a name="l00095"></a>00095 <span class="keywordtype">double</span> Be,
<a name="l00096"></a>00096 <span class="keywordtype">double</span> Ga,
<a name="l00097"></a>00097 <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>,
<a name="l00098"></a>00098 <span class="keywordtype">int</span> tolerance = 100,
<a name="l00099"></a>00099 <span class="keywordtype">long</span> timeout = <a class="code" href="ikBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00100"></a>00100
<a name="l00103"></a>00103 <span class="keywordtype">void</span> moveRobotTo(<span class="keywordtype">double</span> x,
<a name="l00104"></a>00104 <span class="keywordtype">double</span> y,
<a name="l00105"></a>00105 <span class="keywordtype">double</span> z,
<a name="l00106"></a>00106 <span class="keywordtype">double</span> phi,
<a name="l00107"></a>00107 <span class="keywordtype">double</span> theta,
<a name="l00108"></a>00108 <span class="keywordtype">double</span> psi,
<a name="l00109"></a>00109 <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = <a class="code" href="ikBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00110"></a>00110
<a name="l00115"></a>00115 <span class="keywordtype">void</span> moveRobotTo( std::vector<double> coordinates, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = <a class="code" href="ikBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00116"></a>00116
<a name="l00117"></a>00117 };
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00120"></a>00120 <span class="preprocessor">#endif //_IKBASE_H_</span>
<a name="l00121"></a>00121 <span class="preprocessor"></span><span class="comment">/******************************************************************************************************************/</span>
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