var NAVTREE = [ [ "KatanaNativeInterface", "index.html", [ [ ""Katana Native Interface Documentation"", "index.html", null ], [ "Modules", "modules.html", [ [ "Exceptions", "group__exceptions.html", null ] ] ], [ "Class List", "annotated.html", [ [ "KNI::KatanaKinematics6M180::angles_calc", "structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics6M90G::angles_calc", "structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics6M90T::angles_calc", "structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics5M180::angles_calc", "structKNI_1_1KatanaKinematics5M180_1_1angles__calc.html", null ], [ "CannotGetSetPortAttributesException", "classCannotGetSetPortAttributesException.html", null ], [ "CannotOpenPortException", "classCannotOpenPortException.html", null ], [ "CCdlBase", "classCCdlBase.html", null ], [ "CCdlCOM", "classCCdlCOM.html", null ], [ "CCdlSocket", "classCCdlSocket.html", null ], [ "CCplBase", "classCCplBase.html", null ], [ "CCplSerial", "classCCplSerial.html", null ], [ "CCplSerialCRC", "classCCplSerialCRC.html", null ], [ "CikBase", "classCikBase.html", null ], [ "CKatana", "classCKatana.html", null ], [ "CKatBase", "classCKatBase.html", null ], [ "CLMBase", "classCLMBase.html", null ], [ "CMotBase", "classCMotBase.html", null ], [ "ConfigFileEntryNotFoundException", "classConfigFileEntryNotFoundException.html", null ], [ "ConfigFileOpenException", "classConfigFileOpenException.html", null ], [ "ConfigFileSectionNotFoundException", "classConfigFileSectionNotFoundException.html", null ], [ "ConfigFileStateException", "classConfigFileStateException.html", null ], [ "ConfigFileSubsectionNotFoundException", "classConfigFileSubsectionNotFoundException.html", null ], [ "ConfigFileSyntaxErrorException", "classConfigFileSyntaxErrorException.html", null ], [ "Context", "structContext.html", null ], [ "CSctBase", "classCSctBase.html", null ], [ "DeviceReadException", "classDeviceReadException.html", null ], [ "DeviceWriteException", "classDeviceWriteException.html", null ], [ "ErrorException", "classErrorException.html", null ], [ "Exception", "classException.html", null ], [ "FirmwareException", "classFirmwareException.html", null ], [ "JointSpeedException", "classJointSpeedException.html", null ], [ "KNI::KatanaKinematics", "classKNI_1_1KatanaKinematics.html", null ], [ "KNI::KatanaKinematics5M180", "classKNI_1_1KatanaKinematics5M180.html", null ], [ "KNI::KatanaKinematics6M180", "classKNI_1_1KatanaKinematics6M180.html", null ], [ "KNI::KatanaKinematics6M90G", "classKNI_1_1KatanaKinematics6M90G.html", null ], [ "KNI::KatanaKinematics6M90T", "classKNI_1_1KatanaKinematics6M90T.html", null ], [ "KNI::KinematicParameters", "structKNI_1_1KinematicParameters.html", null ], [ "KNI::KinematicsDefaultEncMinAlgorithm", "structKNI_1_1KinematicsDefaultEncMinAlgorithm.html", null ], [ "KNI::kmlFactory", "classKNI_1_1kmlFactory.html", null ], [ "MotorCrashException", "classMotorCrashException.html", null ], [ "MotorOutOfRangeException", "classMotorOutOfRangeException.html", null ], [ "MotorTimeoutException", "classMotorTimeoutException.html", null ], [ "KNI::NoSolutionException", "classKNI_1_1NoSolutionException.html", null ], [ "ParameterReadingException", "classParameterReadingException.html", null ], [ "ParameterWritingException", "classParameterWritingException.html", null ], [ "PortNotOpenException", "classPortNotOpenException.html", null ], [ "KNI::KatanaKinematics6M180::position", "structKNI_1_1KatanaKinematics6M180_1_1position.html", null ], [ "KNI::KatanaKinematics6M90G::position", "structKNI_1_1KatanaKinematics6M90G_1_1position.html", null ], [ "KNI::KatanaKinematics5M180::position", "structKNI_1_1KatanaKinematics5M180_1_1position.html", null ], [ "KNI::KatanaKinematics6M90T::position", "structKNI_1_1KatanaKinematics6M90T_1_1position.html", null ], [ "ReadNotCompleteException", "classReadNotCompleteException.html", null ], [ "ReadWriteNotCompleteException", "classReadWriteNotCompleteException.html", null ], [ "SlaveErrorException", "classSlaveErrorException.html", null ], [ "TBlendtrace", "structTBlendtrace.html", null ], [ "TBLENDtrajectory", "structTBLENDtrajectory.html", null ], [ "TCdlCOMDesc", "structTCdlCOMDesc.html", null ], [ "THeader", "structTHeader.html", null ], [ "KNI::Timer", "classKNI_1_1Timer.html", null ], [ "TKatCBX", "structTKatCBX.html", null ], [ "TKatCTB", "structTKatCTB.html", null ], [ "TKatECH", "structTKatECH.html", null ], [ "TKatEFF", "structTKatEFF.html", null ], [ "TKatGNL", "structTKatGNL.html", null ], [ "TKatIDS", "structTKatIDS.html", null ], [ "TKatMFW", "structTKatMFW.html", null ], [ "TKatMOT", "structTKatMOT.html", null ], [ "TKatSCT", "structTKatSCT.html", null ], [ "TLM_points", "structTLM__points.html", null ], [ "TLMtrajectory", "structTLMtrajectory.html", null ], [ "TMLMIP", "structTMLMIP.html", null ], [ "TMotAPS", "structTMotAPS.html", null ], [ "TMotCLB", "structTMotCLB.html", null ], [ "TMotDesc", "structTMotDesc.html", null ], [ "TMotDYL", "structTMotDYL.html", null ], [ "TMotENL", "structTMotENL.html", null ], [ "TMotGNL", "structTMotGNL.html", null ], [ "TMotInit", "structTMotInit.html", null ], [ "TMotPVP", "structTMotPVP.html", null ], [ "TMotSCP", "structTMotSCP.html", null ], [ "TMotSFW", "structTMotSFW.html", null ], [ "TMotTPS", "structTMotTPS.html", null ], [ "TPacket", "structTPacket.html", null ], [ "TPoint3D", "structTPoint3D.html", null ], [ "TPoint6D", "structTPoint6D.html", null ], [ "TSctDAT", "structTSctDAT.html", null ], [ "TSctDesc", "structTSctDesc.html", null ], [ "TSctGNL", "structTSctGNL.html", null ], [ "TSplinepoint", "structTSplinepoint.html", null ], [ "KNI_MHF::unary_deg2rad< _T >", "structKNI__MHF_1_1unary__deg2rad.html", null ], [ "KNI_MHF::unary_precalc_cos< _T >", "structKNI__MHF_1_1unary__precalc__cos.html", null ], [ "KNI_MHF::unary_precalc_sin< _T >", "structKNI__MHF_1_1unary__precalc__sin.html", null ], [ "KNI_MHF::unary_rad2deg< _T >", "structKNI__MHF_1_1unary__rad2deg.html", null ], [ "WaitParameterException", "classWaitParameterException.html", null ], [ "WriteNotCompleteException", "classWriteNotCompleteException.html", null ], [ "WrongCRCException", "classWrongCRCException.html", null ], [ "WrongParameterException", "classWrongParameterException.html", null ] ] ], [ "Class Index", "classes.html", null ], [ "Class Hierarchy", "hierarchy.html", [ [ "KNI::KatanaKinematics6M180::angles_calc", "structKNI_1_1KatanaKinematics6M180_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics6M90G::angles_calc", "structKNI_1_1KatanaKinematics6M90G_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics6M90T::angles_calc", "structKNI_1_1KatanaKinematics6M90T_1_1angles__calc.html", null ], [ "KNI::KatanaKinematics5M180::angles_calc", "structKNI_1_1KatanaKinematics5M180_1_1angles__calc.html", null ], [ "CCdlBase", "classCCdlBase.html", [ [ "CCdlCOM", "classCCdlCOM.html", null ], [ "CCdlSocket", "classCCdlSocket.html", null ] ] ], [ "CCplBase", "classCCplBase.html", [ [ "CCplSerial", "classCCplSerial.html", [ [ "CCplSerialCRC", "classCCplSerialCRC.html", null ] ] ] ] ], [ "CKatana", "classCKatana.html", [ [ "CikBase", "classCikBase.html", [ [ "CLMBase", "classCLMBase.html", null ] ] ] ] ], [ "CKatBase", "classCKatBase.html", null ], [ "CMotBase", "classCMotBase.html", null ], [ "Context", "structContext.html", null ], [ "CSctBase", "classCSctBase.html", null ], [ "Exception", "classException.html", [ [ "CannotGetSetPortAttributesException", "classCannotGetSetPortAttributesException.html", null ], [ "CannotOpenPortException", "classCannotOpenPortException.html", null ], [ "ConfigFileEntryNotFoundException", "classConfigFileEntryNotFoundException.html", null ], [ "ConfigFileOpenException", "classConfigFileOpenException.html", null ], [ "ConfigFileSectionNotFoundException", "classConfigFileSectionNotFoundException.html", null ], [ "ConfigFileStateException", "classConfigFileStateException.html", null ], [ "ConfigFileSubsectionNotFoundException", "classConfigFileSubsectionNotFoundException.html", null ], [ "ConfigFileSyntaxErrorException", "classConfigFileSyntaxErrorException.html", null ], [ "DeviceReadException", "classDeviceReadException.html", null ], [ "DeviceWriteException", "classDeviceWriteException.html", null ], [ "ErrorException", "classErrorException.html", null ], [ "FirmwareException", "classFirmwareException.html", null ], [ "JointSpeedException", "classJointSpeedException.html", null ], [ "KNI::NoSolutionException", "classKNI_1_1NoSolutionException.html", null ], [ "MotorCrashException", "classMotorCrashException.html", null ], [ "MotorOutOfRangeException", "classMotorOutOfRangeException.html", null ], [ "MotorTimeoutException", "classMotorTimeoutException.html", null ], [ "ParameterReadingException", "classParameterReadingException.html", null ], [ "ParameterWritingException", "classParameterWritingException.html", null ], [ "PortNotOpenException", "classPortNotOpenException.html", null ], [ "ReadWriteNotCompleteException", "classReadWriteNotCompleteException.html", [ [ "ReadNotCompleteException", "classReadNotCompleteException.html", null ], [ "WriteNotCompleteException", "classWriteNotCompleteException.html", null ] ] ], [ "SlaveErrorException", "classSlaveErrorException.html", null ], [ "WaitParameterException", "classWaitParameterException.html", null ], [ "WrongCRCException", "classWrongCRCException.html", null ], [ "WrongParameterException", "classWrongParameterException.html", null ] ] ], [ "KNI::KatanaKinematics", "classKNI_1_1KatanaKinematics.html", [ [ "KNI::KatanaKinematics5M180", "classKNI_1_1KatanaKinematics5M180.html", null ], [ "KNI::KatanaKinematics6M180", "classKNI_1_1KatanaKinematics6M180.html", null ], [ "KNI::KatanaKinematics6M90G", "classKNI_1_1KatanaKinematics6M90G.html", null ], [ "KNI::KatanaKinematics6M90T", "classKNI_1_1KatanaKinematics6M90T.html", null ] ] ], [ "KNI::KinematicParameters", "structKNI_1_1KinematicParameters.html", null ], [ "KNI::KinematicsDefaultEncMinAlgorithm", "structKNI_1_1KinematicsDefaultEncMinAlgorithm.html", null ], [ "KNI::kmlFactory", "classKNI_1_1kmlFactory.html", null ], [ "KNI::KatanaKinematics6M180::position", "structKNI_1_1KatanaKinematics6M180_1_1position.html", null ], [ "KNI::KatanaKinematics6M90G::position", "structKNI_1_1KatanaKinematics6M90G_1_1position.html", null ], [ "KNI::KatanaKinematics5M180::position", "structKNI_1_1KatanaKinematics5M180_1_1position.html", null ], [ "KNI::KatanaKinematics6M90T::position", "structKNI_1_1KatanaKinematics6M90T_1_1position.html", null ], [ "TBlendtrace", "structTBlendtrace.html", null ], [ "TBLENDtrajectory", "structTBLENDtrajectory.html", null ], [ "TCdlCOMDesc", "structTCdlCOMDesc.html", null ], [ "THeader", "structTHeader.html", null ], [ "KNI::Timer", "classKNI_1_1Timer.html", null ], [ "TKatCBX", "structTKatCBX.html", null ], [ "TKatCTB", "structTKatCTB.html", null ], [ "TKatECH", "structTKatECH.html", null ], [ "TKatEFF", "structTKatEFF.html", null ], [ "TKatGNL", "structTKatGNL.html", null ], [ "TKatIDS", "structTKatIDS.html", null ], [ "TKatMFW", "structTKatMFW.html", null ], [ "TKatMOT", "structTKatMOT.html", null ], [ "TKatSCT", "structTKatSCT.html", null ], [ "TLM_points", "structTLM__points.html", null ], [ "TLMtrajectory", "structTLMtrajectory.html", null ], [ "TMLMIP", "structTMLMIP.html", null ], [ "TMotAPS", "structTMotAPS.html", null ], [ "TMotCLB", "structTMotCLB.html", null ], [ "TMotDesc", "structTMotDesc.html", null ], [ "TMotDYL", "structTMotDYL.html", null ], [ "TMotENL", "structTMotENL.html", null ], [ "TMotGNL", "structTMotGNL.html", null ], [ "TMotInit", "structTMotInit.html", null ], [ "TMotPVP", "structTMotPVP.html", null ], [ "TMotSCP", "structTMotSCP.html", null ], [ "TMotSFW", "structTMotSFW.html", null ], [ "TMotTPS", "structTMotTPS.html", null ], [ "TPacket", "structTPacket.html", null ], [ "TPoint3D", "structTPoint3D.html", null ], [ "TPoint6D", "structTPoint6D.html", null ], [ "TSctDAT", "structTSctDAT.html", null ], [ "TSctDesc", "structTSctDesc.html", null ], [ "TSctGNL", "structTSctGNL.html", null ], [ "TSplinepoint", "structTSplinepoint.html", null ], [ "KNI_MHF::unary_deg2rad< _T >", "structKNI__MHF_1_1unary__deg2rad.html", null ], [ "KNI_MHF::unary_precalc_cos< _T >", "structKNI__MHF_1_1unary__precalc__cos.html", null ], [ "KNI_MHF::unary_precalc_sin< _T >", "structKNI__MHF_1_1unary__precalc__sin.html", null ], [ "KNI_MHF::unary_rad2deg< _T >", "structKNI__MHF_1_1unary__rad2deg.html", null ] ] ], [ "Class Members", "functions.html", null ], [ "Namespace List", "namespaces.html", [ [ "KNI", "namespaceKNI.html", null ], [ "KNI_MHF", "namespaceKNI__MHF.html", null ] ] ], [ "Namespace Members", "namespacemembers.html", null ], [ "File List", "files.html", [ [ "include/kniBase.h", "kniBase_8h.html", null ], [ "include/common/dllexport.h", "dllexport_8h.html", null ], [ "include/common/exception.h", "exception_8h.html", null ], [ "include/common/MathHelperFunctions.h", "MathHelperFunctions_8h.html", null ], [ "include/common/Timer.h", "Timer_8h.html", null ], [ "include/KNI/cdlBase.h", "cdlBase_8h.html", null ], [ "include/KNI/cdlCOM.h", "cdlCOM_8h.html", null ], [ "include/KNI/cdlCOMExceptions.h", "cdlCOMExceptions_8h.html", null ], [ "include/KNI/cdlSocket.h", "cdlSocket_8h.html", null ], [ "include/KNI/cplBase.h", "cplBase_8h.html", null ], [ "include/KNI/cplSerial.h", "cplSerial_8h.html", null ], [ "include/KNI/CRC.h", "CRC_8h.html", null ], [ "include/KNI/kmlBase.h", "kmlBase_8h.html", null ], [ "include/KNI/kmlCommon.h", "kmlCommon_8h.html", null ], [ "include/KNI/kmlExt.h", "kmlExt_8h.html", null ], [ "include/KNI/kmlFactories.h", "kmlFactories_8h.html", null ], [ "include/KNI/kmlMotBase.h", "kmlMotBase_8h.html", null ], [ "include/KNI/kmlSctBase.h", "kmlSctBase_8h.html", null ], [ "include/KNI_InvKin/ikBase.h", "ikBase_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematics.h", "KatanaKinematics_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematics5M180.h", "KatanaKinematics5M180_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematics6M180.h", "KatanaKinematics6M180_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematics6M90G.h", "KatanaKinematics6M90G_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematics6M90T.h", "KatanaKinematics6M90T_8h.html", null ], [ "include/KNI_InvKin/KatanaKinematicsDecisionAlgorithms.h", "KatanaKinematicsDecisionAlgorithms_8h.html", null ], [ "include/KNI_LM/lmBase.h", "lmBase_8h.html", null ] ] ], [ "Directories", "dirs.html", [ [ "include", "dir_fc25399ab8807b601c2f657a5f30189b.html", [ [ "common", "dir_58fe47c23be80bccd98550c283b90d29.html", null ], [ "KNI", "dir_8e9f9ab36c2e49b4cca7a52b4bf44603.html", null ], [ "KNI_InvKin", "dir_b5b0a018f40379da5053bbb4f962b172.html", null ], [ "KNI_LM", "dir_775b3d79e9b23218ee6107dea48011e6.html", null ] ] ] ] ], [ "File Members", "globals.html", null ] ] ] ]; function createIndent(o,domNode,node,level) { if (node.parentNode && node.parentNode.parentNode) { createIndent(o,domNode,node.parentNode,level+1); } var imgNode = document.createElement("img"); if (level==0 && node.childrenData) { node.plus_img = imgNode; node.expandToggle = document.createElement("a"); node.expandToggle.href = "javascript:void(0)"; node.expandToggle.onclick = function() { if (node.expanded) { $(node.getChildrenUL()).slideUp("fast"); if (node.isLast) { node.plus_img.src = node.relpath+"ftv2plastnode.png"; } else { node.plus_img.src = node.relpath+"ftv2pnode.png"; } node.expanded = false; } else { expandNode(o, node, false); } } node.expandToggle.appendChild(imgNode); domNode.appendChild(node.expandToggle); } else { domNode.appendChild(imgNode); } if (level==0) { if (node.isLast) { if (node.childrenData) { imgNode.src = node.relpath+"ftv2plastnode.png"; } else { imgNode.src = node.relpath+"ftv2lastnode.png"; domNode.appendChild(imgNode); } } else { if (node.childrenData) { imgNode.src = node.relpath+"ftv2pnode.png"; } else { imgNode.src = node.relpath+"ftv2node.png"; domNode.appendChild(imgNode); } } } else { if (node.isLast) { imgNode.src = node.relpath+"ftv2blank.png"; } else { imgNode.src = node.relpath+"ftv2vertline.png"; } } imgNode.border = "0"; } function newNode(o, po, text, link, childrenData, lastNode) { var node = new Object(); node.children = Array(); node.childrenData = childrenData; node.depth = po.depth + 1; node.relpath = po.relpath; node.isLast = lastNode; node.li = document.createElement("li"); po.getChildrenUL().appendChild(node.li); node.parentNode = po; node.itemDiv = document.createElement("div"); node.itemDiv.className = "item"; node.labelSpan = document.createElement("span"); node.labelSpan.className = "label"; createIndent(o,node.itemDiv,node,0); node.itemDiv.appendChild(node.labelSpan); node.li.appendChild(node.itemDiv); var a = document.createElement("a"); node.labelSpan.appendChild(a); node.label = document.createTextNode(text); a.appendChild(node.label); if (link) { a.href = node.relpath+link; } else { if (childrenData != null) { a.className = "nolink"; a.href = "javascript:void(0)"; a.onclick = node.expandToggle.onclick; node.expanded = false; } } node.childrenUL = null; node.getChildrenUL = function() { if (!node.childrenUL) { node.childrenUL = document.createElement("ul"); node.childrenUL.className = "children_ul"; node.childrenUL.style.display = "none"; node.li.appendChild(node.childrenUL); } return node.childrenUL; }; return node; } function showRoot() { var headerHeight = $("#top").height(); var footerHeight = $("#nav-path").height(); var windowHeight = $(window).height() - headerHeight - footerHeight; navtree.scrollTo('#selected',0,{offset:-windowHeight/2}); } function expandNode(o, node, imm) { if (node.childrenData && !node.expanded) { if (!node.childrenVisited) { getNode(o, node); } if (imm) { $(node.getChildrenUL()).show(); } else { $(node.getChildrenUL()).slideDown("fast",showRoot); } if (node.isLast) { node.plus_img.src = node.relpath+"ftv2mlastnode.png"; } else { node.plus_img.src = node.relpath+"ftv2mnode.png"; } node.expanded = true; } } function getNode(o, po) { po.childrenVisited = true; var l = po.childrenData.length-1; for (var i in po.childrenData) { var nodeData = po.childrenData[i]; po.children[i] = newNode(o, po, nodeData[0], nodeData[1], nodeData[2], i==l); } } function findNavTreePage(url, data) { var nodes = data; var result = null; for (var i in nodes) { var d = nodes[i]; if (d[1] == url) { return new Array(i); } else if (d[2] != null) // array of children { result = findNavTreePage(url, d[2]); if (result != null) { return (new Array(i).concat(result)); } } } return null; } function initNavTree(toroot,relpath) { var o = new Object(); o.toroot = toroot; o.node = new Object(); o.node.li = document.getElementById("nav-tree-contents"); o.node.childrenData = NAVTREE; o.node.children = new Array(); o.node.childrenUL = document.createElement("ul"); o.node.getChildrenUL = function() { return o.node.childrenUL; }; o.node.li.appendChild(o.node.childrenUL); o.node.depth = 0; o.node.relpath = relpath; getNode(o, o.node); o.breadcrumbs = findNavTreePage(toroot, NAVTREE); if (o.breadcrumbs == null) { o.breadcrumbs = findNavTreePage("index.html",NAVTREE); } if (o.breadcrumbs != null && o.breadcrumbs.length>0) { var p = o.node; for (var i in o.breadcrumbs) { var j = o.breadcrumbs[i]; p = p.children[j]; expandNode(o,p,true); } p.itemDiv.className = p.itemDiv.className + " selected"; p.itemDiv.id = "selected"; $(window).load(showRoot); } }