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<h1>kmlExt.h</h1> </div>
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<a href="kmlExt_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
<a name="l00022"></a>00022 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef _KMLEXT_H_</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define _KMLEXT_H_</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span><span class="comment">/******************************************************************************************************************/</span>
<a name="l00026"></a>00026 <span class="preprocessor">#include "common/dllexport.h"</span>
<a name="l00027"></a>00027 <span class="preprocessor">#include "common/exception.h"</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#include "KNI/kmlBase.h"</span>
<a name="l00030"></a>00030 <span class="preprocessor">#include "KNI/kmlMotBase.h"</span>
<a name="l00031"></a>00031
<a name="l00032"></a>00032 <span class="preprocessor">#include <vector></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00036"></a>00036
<a name="l00041"></a>00041
<a name="l00045"></a><a class="code" href="classConfigFileOpenException.html">00045</a> <span class="keyword">class </span><a class="code" href="classConfigFileOpenException.html" title="Accessing the given configuration file failed (may be: access denied or wrong path)">ConfigFileOpenException</a> : <span class="keyword">public</span> <a class="code" href="classException.html">Exception</a> {
<a name="l00046"></a>00046 <span class="keyword">public</span>:
<a name="l00047"></a><a class="code" href="classConfigFileOpenException.html#a0d4bbe0f7207faedaab81715f1775bff">00047</a> <a class="code" href="classConfigFileOpenException.html#a0d4bbe0f7207faedaab81715f1775bff">ConfigFileOpenException</a>(<span class="keyword">const</span> std::string & port) <span class="keywordflow">throw</span> ():
<a name="l00048"></a>00048 <a class="code" href="classException.html#a1e7d40687c861dba563a3e0275b3cede">Exception</a>(<span class="stringliteral">"Cannot open configuration file '"</span> + port + <span class="stringliteral">"'"</span>, -40) {}
<a name="l00049"></a>00049 };
<a name="l00050"></a>00050
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keyword">namespace </span>KNI {
<a name="l00056"></a>00056 <span class="keyword">class </span>kmlFactory;
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00064"></a><a class="code" href="classCKatana.html">00064</a> <span class="keyword">class </span><a class="code" href="dllexport_8h.html#af6e7daabccc187ef1005a8e9a68ecce4">DLLDIR</a> <a class="code" href="classCKatana.html" title="Extended Katana class with additional functions.">CKatana</a> {
<a name="l00065"></a>00065 <span class="keyword">protected</span>:
<a name="l00066"></a>00066 <span class="comment">//-------------------------------------//</span>
<a name="l00067"></a><a class="code" href="classCKatana.html#af32c87dab006252f4e9351cccf5cb44f">00067</a> <a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>* <a class="code" href="classCKatana.html#af32c87dab006252f4e9351cccf5cb44f" title="base katana">base</a>;
<a name="l00068"></a>00068
<a name="l00069"></a><a class="code" href="classCKatana.html#a3256bba24fd9b32c07cec72dcd187637">00069</a> <span class="keywordtype">bool</span> <a class="code" href="classCKatana.html#a3256bba24fd9b32c07cec72dcd187637">_gripperIsPresent</a>;
<a name="l00070"></a><a class="code" href="classCKatana.html#a564ba0a6a1d3e3e2c8c4a7778356547f">00070</a> <span class="keywordtype">int</span> <a class="code" href="classCKatana.html#a564ba0a6a1d3e3e2c8c4a7778356547f">_gripperOpenEncoders</a>;
<a name="l00071"></a><a class="code" href="classCKatana.html#a20a9baa8389f76a577931797fc86e8b6">00071</a> <span class="keywordtype">int</span> <a class="code" href="classCKatana.html#a20a9baa8389f76a577931797fc86e8b6">_gripperCloseEncoders</a>;
<a name="l00073"></a><a class="code" href="classCKatana.html#a1daf4b7d80123f92046b5771660b3352">00073</a> <span class="keywordtype">int</span> <a class="code" href="classCKatana.html#a1daf4b7d80123f92046b5771660b3352" title="The type of KatanaXXX (300 or 400)">mKatanaType</a>;
<a name="l00074"></a>00074
<a name="l00077"></a>00077 <span class="keywordtype">void</span> setTolerance(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> enc_tolerance);
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keyword">public</span>:
<a name="l00080"></a>00080 <span class="comment">//-------------------------------------//</span>
<a name="l00081"></a><a class="code" href="classCKatana.html#ade5d072aee98f77420affc9dd524abd7">00081</a> <a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>* <a class="code" href="classCKatana.html#ade5d072aee98f77420affc9dd524abd7" title="Returns pointer to &#39;CKatBase*&#39;.">GetBase</a>() { <span class="keywordflow">return</span> base; }
<a name="l00082"></a>00082
<a name="l00086"></a><a class="code" href="classCKatana.html#afde8ab05c6a8d2d8a3afae58c5fee0b4">00086</a> <a class="code" href="classCKatana.html#afde8ab05c6a8d2d8a3afae58c5fee0b4" title="Constructor.">CKatana</a>() { base = <span class="keyword">new</span> <a class="code" href="classCKatBase.html" title="Base Katana class.">CKatBase</a>; }
<a name="l00089"></a><a class="code" href="classCKatana.html#a5d16e2959461280a0e6c55dfc282a39a">00089</a> <a class="code" href="classCKatana.html#a5d16e2959461280a0e6c55dfc282a39a" title="Destructor.">~CKatana</a>() { <span class="keyword">delete</span> base; }
<a name="l00090"></a>00090 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00093"></a>00093 <span class="comment"></span> <span class="keywordtype">void</span> create(<span class="keyword">const</span> <span class="keywordtype">char</span>* configurationFile, <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* protocol);
<a name="l00094"></a>00094 <span class="keywordtype">void</span> create(<a class="code" href="classKNI_1_1kmlFactory.html" title="This class is for internal use only It may change at any time It shields the configuration file parsi...">KNI::kmlFactory</a>* infos, <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* protocol);
<a name="l00095"></a>00095
<a name="l00098"></a>00098 <span class="keywordtype">void</span> create(<a class="code" href="structTKatGNL.html" title="[GNL] general robot attributes">TKatGNL</a>& gnl,
<a name="l00099"></a>00099 <a class="code" href="structTKatMOT.html" title="[MOT] every motor&#39;s attributes">TKatMOT</a>& mot,
<a name="l00100"></a>00100 <a class="code" href="structTKatSCT.html" title="[SCT] every sens ctrl&#39;s attributes">TKatSCT</a>& sct,
<a name="l00101"></a>00101 <a class="code" href="structTKatEFF.html" title="Inverse Kinematics structure of the endeffektor.">TKatEFF</a>& eff,
<a name="l00102"></a>00102 <a class="code" href="classCCplBase.html" title="Abstract base class for protocol definiton.">CCplBase</a>* protocol
<a name="l00103"></a>00103 );
<a name="l00104"></a>00104 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00105"></a>00105
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/* \brief calibrates the robot</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keywordtype">void</span> calibrate();
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="keywordtype">void</span> calibrate( <span class="keywordtype">long</span> idx,
<a name="l00112"></a>00112 <a class="code" href="structTMotCLB.html" title="Calibration structure for single motors.">TMotCLB</a> clb,
<a name="l00113"></a>00113 <a class="code" href="structTMotSCP.html" title="[SCP] static controller parameters">TMotSCP</a> scp,
<a name="l00114"></a>00114 <a class="code" href="structTMotDYL.html" title="[DYL] dynamic limits">TMotDYL</a> dyl
<a name="l00115"></a>00115 );
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordtype">void</span> searchMechStop(<span class="keywordtype">long</span> idx,
<a name="l00120"></a>00120 <a class="code" href="kmlMotBase_8h.html#adef107e616c782dbe7138446a2edf71b">TSearchDir</a> dir,
<a name="l00121"></a>00121 <a class="code" href="structTMotSCP.html" title="[SCP] static controller parameters">TMotSCP</a> scp,
<a name="l00122"></a>00122 <a class="code" href="structTMotDYL.html" title="[DYL] dynamic limits">TMotDYL</a> dyl
<a name="l00123"></a>00123 );
<a name="l00124"></a>00124
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00129"></a>00129 <span class="comment"></span> <span class="keywordtype">void</span> inc(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> dif, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00132"></a>00132 <span class="keywordtype">void</span> dec(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> dif, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00136"></a>00136 <span class="keywordtype">void</span> mov(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> tar, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00137"></a>00137
<a name="l00138"></a>00138 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00141"></a>00141 <span class="comment"></span> <span class="keywordtype">void</span> incDegrees(<span class="keywordtype">long</span> idx, <span class="keywordtype">double</span> dif, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00144"></a>00144 <span class="keywordtype">void</span> decDegrees(<span class="keywordtype">long</span> idx, <span class="keywordtype">double</span> dif, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00148"></a>00148 <span class="keywordtype">void</span> movDegrees(<span class="keywordtype">long</span> idx, <span class="keywordtype">double</span> tar, <span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">int</span> tolerance = 100, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00151"></a>00151
<a name="l00152"></a>00152
<a name="l00158"></a>00158 <span class="keywordtype">void</span> setTPSP(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> tar);
<a name="l00163"></a>00163 <span class="keywordtype">void</span> resetTPSP();
<a name="l00168"></a>00168 <span class="keywordtype">void</span> sendTPSP(<span class="keywordtype">bool</span> wait = <span class="keyword">false</span>, <span class="keywordtype">long</span> timeout = <a class="code" href="kmlBase_8h.html#ad6ffe504357959900a023228f12b10ae" title="timeout symbol for &#39;endless&#39; waiting">TM_ENDLESS</a>);
<a name="l00174"></a>00174 <span class="keywordtype">void</span> setTPSPDegrees(<span class="keywordtype">long</span> idx, <span class="keywordtype">double</span> tar);
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00177"></a>00177 <span class="comment">// public just for dubbuging purposes</span>
<a name="l00181"></a>00181 <span class="comment"></span> <span class="keywordtype">bool</span> checkENLD(<span class="keywordtype">long</span> idx, <span class="keywordtype">double</span> degrees);
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00184"></a>00184
<a name="l00188"></a>00188 <span class="keywordtype">void</span> setGripperParameters(<span class="keywordtype">bool</span> isPresent, <span class="keywordtype">int</span> openEncoders, <span class="keywordtype">int</span> closeEncoders);
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00191"></a>00191
<a name="l00194"></a>00194 <span class="keywordtype">void</span> enableCrashLimits();
<a name="l00197"></a>00197 <span class="keywordtype">void</span> disableCrashLimits();
<a name="l00200"></a>00200 <span class="keywordtype">void</span> unBlock();
<a name="l00203"></a>00203 <span class="keywordtype">void</span> setCrashLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00206"></a>00206 <span class="keywordtype">void</span> setPositionCollisionLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00209"></a>00209 <span class="keywordtype">void</span> setSpeedCollisionLimit(<span class="keywordtype">long</span> idx, <span class="keywordtype">int</span> limit);
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="comment">//------------------------------------------------------------------------------//</span>
<a name="l00212"></a>00212
<a name="l00213"></a>00213 <span class="keywordtype">short</span> getNumberOfMotors() <span class="keyword">const</span>;
<a name="l00214"></a>00214 <span class="keywordtype">int</span> getMotorEncoders(<span class="keywordtype">short</span> number, <span class="keywordtype">bool</span> refreshEncoders = <span class="keyword">true</span>) <span class="keyword">const</span>;
<a name="l00215"></a>00215
<a name="l00219"></a>00219 std::vector<int>::iterator getRobotEncoders(std::vector<int>::iterator start, std::vector<int>::const_iterator end, <span class="keywordtype">bool</span> refreshEncoders = <span class="keyword">true</span>) <span class="keyword">const</span>;
<a name="l00220"></a>00220
<a name="l00224"></a>00224 std::vector<int> getRobotEncoders(<span class="keywordtype">bool</span> refreshEncoders = <span class="keyword">true</span>) <span class="keyword">const</span>;
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="keywordtype">short</span> getMotorVelocityLimit( <span class="keywordtype">short</span> number ) <span class="keyword">const</span>;
<a name="l00227"></a>00227 <span class="keywordtype">short</span> getMotorAccelerationLimit( <span class="keywordtype">short</span> number ) <span class="keyword">const</span>;
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="keywordtype">void</span> setMotorVelocityLimit( <span class="keywordtype">short</span> number, <span class="keywordtype">short</span> velocity );
<a name="l00230"></a>00230 <span class="keywordtype">void</span> setMotorAccelerationLimit( <span class="keywordtype">short</span> number, <span class="keywordtype">short</span> acceleration );
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <span class="keywordtype">void</span> setRobotVelocityLimit( <span class="keywordtype">short</span> velocity );
<a name="l00235"></a>00235 <span class="keywordtype">void</span> setRobotAccelerationLimit( <span class="keywordtype">short</span> acceleration );
<a name="l00236"></a>00236
<a name="l00237"></a>00237 <span class="keywordtype">void</span> moveMotorByEnc( <span class="keywordtype">short</span> number, <span class="keywordtype">int</span> encoders, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00238"></a>00238 <span class="keywordtype">void</span> moveMotorBy ( <span class="keywordtype">short</span> number, <span class="keywordtype">double</span> radianAngle, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00239"></a>00239
<a name="l00240"></a>00240 <span class="keywordtype">void</span> moveMotorToEnc( <span class="keywordtype">short</span> number, <span class="keywordtype">int</span> encoders, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> encTolerance = 100, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00241"></a>00241 <span class="keywordtype">void</span> moveMotorTo ( <span class="keywordtype">short</span> number, <span class="keywordtype">double</span> radianAngle, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <span class="keywordtype">void</span> waitForMotor( <span class="keywordtype">short</span> number, <span class="keywordtype">int</span> encoders, <span class="keywordtype">int</span> encTolerance = 100, <span class="keywordtype">short</span> mode = 0, <span class="keywordtype">int</span> waitTimeout = 5000);
<a name="l00244"></a>00244
<a name="l00248"></a>00248 <span class="keywordtype">void</span> moveRobotToEnc(std::vector<int>::const_iterator start, std::vector<int>::const_iterator end, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> encTolerance = 100, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00252"></a>00252 <span class="keywordtype">void</span> moveRobotToEnc(std::vector<int> encoders, <span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> encTolerance = 100, <span class="keywordtype">int</span> waitTimeout = 0);
<a name="l00254"></a>00254 <span class="keywordtype">void</span> moveRobotToEnc4D(std::vector<int> target, <span class="keywordtype">int</span> velocity=180, <span class="keywordtype">int</span> acceleration = 1, <span class="keywordtype">int</span> encTolerance = 100);
<a name="l00255"></a>00255
<a name="l00256"></a>00256 <span class="keywordtype">void</span> openGripper (<span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = 100);
<a name="l00257"></a>00257 <span class="keywordtype">void</span> closeGripper(<span class="keywordtype">bool</span> waitUntilReached = <span class="keyword">false</span>, <span class="keywordtype">int</span> waitTimeout = 100);
<a name="l00258"></a>00258
<a name="l00259"></a>00259 <span class="keywordtype">void</span> freezeRobot();
<a name="l00260"></a>00260 <span class="keywordtype">void</span> freezeMotor(<span class="keywordtype">short</span> number);
<a name="l00261"></a>00261 <span class="keywordtype">void</span> switchRobotOn();
<a name="l00262"></a>00262 <span class="keywordtype">void</span> switchRobotOff();
<a name="l00263"></a>00263 <span class="keywordtype">void</span> switchMotorOn(<span class="keywordtype">short</span> number);
<a name="l00264"></a>00264 <span class="keywordtype">void</span> switchMotorOff(<span class="keywordtype">short</span> number);
<a name="l00265"></a>00265
<a name="l00269"></a>00269 <span class="keywordtype">void</span> startSplineMovement(<span class="keywordtype">bool</span> exactflag, <span class="keywordtype">int</span> moreflag = 1);
<a name="l00270"></a>00270
<a name="l00273"></a>00273 <span class="keywordtype">void</span> startFourSplinesMovement(<span class="keywordtype">bool</span> exactflag);
<a name="l00274"></a>00274
<a name="l00278"></a>00278 <span class="keywordtype">void</span> sendSplineToMotor(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> number, <span class="keywordtype">short</span> targetPosition, <span class="keywordtype">short</span> duration, <span class="keywordtype">short</span> p1, <span class="keywordtype">short</span> p2, <span class="keywordtype">short</span> p3, <span class="keywordtype">short</span> p4);
<a name="l00279"></a>00279
<a name="l00284"></a>00284 <span class="keywordtype">void</span> sendFourSplinesToMotor(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> number, <span class="keywordtype">short</span> targetPosition, <span class="keywordtype">short</span> duration, std::vector<short>& coefficients);
<a name="l00285"></a>00285 <span class="keywordtype">void</span> sendFourSplinesToMotor(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> number, <span class="keywordtype">short</span> targetPosition, <span class="keywordtype">short</span> duration, <span class="keywordtype">short</span> p01, <span class="keywordtype">short</span> p11, <span class="keywordtype">short</span> p21, <span class="keywordtype">short</span> p31, <span class="keywordtype">short</span> p02, <span class="keywordtype">short</span> p12, <span class="keywordtype">short</span> p22, <span class="keywordtype">short</span> p32,<span class="keywordtype">short</span> p03, <span class="keywordtype">short</span> p13, <span class="keywordtype">short</span> p23, <span class="keywordtype">short</span> p33,<span class="keywordtype">short</span> p04, <span class="keywordtype">short</span> p14, <span class="keywordtype">short</span> p24, <span class="keywordtype">short</span> p34);
<a name="l00286"></a>00286 };
<a name="l00287"></a>00287
<a name="l00288"></a>00288 <span class="comment">/******************************************************************************************************************/</span>
<a name="l00289"></a>00289 <span class="preprocessor">#endif //_KMLEXT_H_</span>
<a name="l00290"></a>00290 <span class="preprocessor"></span><span class="comment">/******************************************************************************************************************/</span>
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