53 CikBase() : _kinematicsIsInitialized(false) { };
64 void getCoordinates(
double& x,
double& y,
double& z,
double& phi,
double& theta,
double& psi,
bool refreshEncoders =
true);
75 std::vector<int>::iterator solution_iter);
86 std::vector<int>::iterator solution_iter,
87 const std::vector<int>& actualPosition );
109 bool waitUntilReached =
false,
int waitTimeout =
TM_ENDLESS);
Extended Katana class with additional functions.
void DKApos(double *position)
Returns the current position of the robot in cartesian coordinates.
bool _kinematicsIsInitialized
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.
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 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 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 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 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.
std::auto_ptr< KNI::KatanaKinematics > _kinematicsImpl
#define TM_ENDLESS
timeout symbol for 'endless' waiting