20 #ifndef KNIKATANAKINEMATICS6M90G_H 21 #define KNIKATANAKINEMATICS6M90G_H 47 void IK(encoders::iterator solution,
coordinates const& pose,
encoders const& cur_angles)
const;
81 void IK_theta234theta5(angles_calc& angle,
const position &p_gr)
const;
82 void IK_b1b2costh3_6MS(angles_calc &a,
const position &p)
const;
84 void thetacomp(angles_calc &a,
const position &p_m)
const;
86 bool angledef(angles_calc &a)
const;
88 bool GripperTest(
const position &p_gr,
const angles_calc &angle)
const;
89 bool AnglePositionTest(
const angles_calc &a)
const;
90 bool PositionTest6MS(
const angles_calc &a,
const position &p)
const;
std::vector< angles_calc > angles_container
std::vector< KinematicParameters > parameter_container
The base class for all kinematic implementations.
void _setLength(metrics const &length)
parameter_container _parameters
void _setParameters(parameter_container const ¶meters)
std::vector< double > coordinates
To store coordinates.
static const int _nrOfPossibleSolutions
std::vector< int > encoders
To store encoders.
static const double _tolerance
std::vector< double > metrics
To store metrics, 'aka' the length's of the different segments of the robot.