CikBase Class Reference

#include <ikBase.h>

Inheritance diagram for CikBase:

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Collaboration diagram for CikBase:

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List of all members.

Public Member Functions
	CikBase ()
	~CikBase ()
void	DKApos (double *position)
	Returns the current position of the robot in cartesian coordinates.
void	getCoordinates (double &x, double &y, double &z, double &phi, double &theta, double &psi, bool refreshEncoders=true)
	Returns the current position of the robot in cartesian coordinates.
void	IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter)
	Calculates a set of encoders for the given coordinates.
void	IKCalculate (double X, double Y, double Z, double Al, double Be, double Ga, std::vector< int >::iterator solution_iter, const std::vector< int > &actualPosition)
	Calculates a set of encoders for the given coordinates.
void	IKGoto (double X, double Y, double Z, double Al, double Be, double Ga, bool wait=false, int tolerance=100, long timeout=TM_ENDLESS)
	Moves to robot to given cartesian coordinates and euler-angles.
void	moveRobotTo (double x, double y, double z, double phi, double theta, double psi, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)
	Moves to robot to given cartesian coordinates and euler-angles.
void	moveRobotTo (std::vector< double > coordinates, bool waitUntilReached=false, int waitTimeout=TM_ENDLESS)
	This method does the same as the one above and is mainly provided for convenience.
Private Member Functions
void	_initKinematics ()
Private Attributes
std::auto_ptr < KNI::KatanaKinematics >	_kinematicsImpl
bool	_kinematicsIsInitialized

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Detailed Description

Definition at line 44 of file ikBase.h.

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Constructor & Destructor Documentation

CikBase::CikBase

(

)

[inline]

Definition at line 53 of file ikBase.h.

CikBase::~CikBase

(

)

[inline]

Definition at line 54 of file ikBase.h.

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Member Function Documentation

void CikBase::_initKinematics

(

)

[private]

void CikBase::DKApos

(

double *

position

)

Returns the current position of the robot in cartesian coordinates.

Note:

This method is deprecated, please use getCoordinates(...) instead

void CikBase::getCoordinates	(	double &	x,
		double &	y,
		double &	z,
		double &	phi,
		double &	theta,
		double &	psi,
		bool	refreshEncoders = true
	)

Returns the current position of the robot in cartesian coordinates.

Parameters:

refreshEncoders

With this parameter you can determine if the method reads the actual encoders from the robot or if it will use the cached ones

Note:

This function returns a tuple in python

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter,
		const std::vector< int > &	actualPosition
	)

Calculates a set of encoders for the given coordinates.

For this method you have to pass an actualPosition too. No communication with the robot will be done here.

void CikBase::IKCalculate	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		std::vector< int >::iterator	solution_iter
	)

Calculates a set of encoders for the given coordinates.

This method reads the current encoders from the robot and involves therefore also communication to the robot

void CikBase::IKGoto	(	double	X,
		double	Y,
		double	Z,
		double	Al,
		double	Be,
		double	Ga,
		bool	wait = false,
		int	tolerance = 100,
		long	timeout = TM_ENDLESS
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note:

This method is deprecated, please use moveRobotTo(...) instead

void CikBase::moveRobotTo	(	std::vector< double >	coordinates,
		bool	waitUntilReached = false,
		int	waitTimeout = TM_ENDLESS
	)

This method does the same as the one above and is mainly provided for convenience.

Note:

You can call this function in python using tuples: Example: katana.moveRobotTo( (x,y,z,phi,theta,psi) )

If the size of the container is smaller than 6, it will throw an exception

void CikBase::moveRobotTo	(	double	x,
		double	y,
		double	z,
		double	phi,
		double	theta,
		double	psi,
		bool	waitUntilReached = false,
		int	waitTimeout = TM_ENDLESS
	)

Moves to robot to given cartesian coordinates and euler-angles.

Note:

Instead of a given tolerance, a default tolerance is being used

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Member Data Documentation

std::auto_ptr<KNI::KatanaKinematics> CikBase::_kinematicsImpl [private]

Definition at line 47 of file ikBase.h.

bool CikBase::_kinematicsIsInitialized [private]

Definition at line 48 of file ikBase.h.

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The documentation for this class was generated from the following file:

• include/KNI_InvKin/ikBase.h