20 #ifndef KNIKatanaKinematics6M90T_H
21 #define KNIKatanaKinematics6M90T_H
91 bool PositionTest6MS(
const double& theta1,
const double& theta2,
const double& theta3,
const double& theta234,
const position &p)
const;
void IK_theta234theta5(angles_calc &angle, const position &p_gr) const
void _setParameters(parameter_container const ¶meters)
void DK(coordinates &solution, encoders const ¤t_encoders) const
Direct Kinematic.
void thetacomp(angles_calc &a, const position &p_m, const coordinates &pose) const
parameter_container _parameters
void init(metrics const &length, parameter_container const ¶meters)
Initialize the parameters for the calculations.
double findFirstEqualAngle(const angles &v1, const angles &v2) const
static const int _nrOfPossibleSolutions
bool AnglePositionTest(const angles_calc &a) const
bool GripperTest(const position &p_gr, const angles_calc &angle) const
std::vector< angles_calc > angles_container
void IK(encoders::iterator solution, coordinates const &pose, encoders const &cur_angles) const
Inverse Kinematic.
bool angledef(angles_calc &a) const
static const double _tolerance
void _setLength(metrics const &length)
bool PositionTest6MS(const double &theta1, const double &theta2, const double &theta3, const double &theta234, const position &p) const
void IK_b1b2costh3_6MS(angles_calc &a, const position &p) const
The base class for all kinematic implementations.
std::vector< double > coordinates
To store coordinates.
std::vector< double > angles
Being used to store angles (in radian).
std::vector< KinematicParameters > parameter_container
std::vector< int > encoders
To store encoders.
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.