KineCalc Class Reference
Public Member Functions | |
| void | CalculateFK (const double fromJoints[]) |
| bool | CalculateIK (const EndEffector &fromPosition) |
| const KineVector & | GetP (void) const |
| const KineVector & | GetN (void) const |
| const KineVector & | GetO (void) const |
| const KineVector & | GetA (void) const |
| void | SetP (const KineVector &newP) |
| void | SetN (const KineVector &newN) |
| void | SetO (const KineVector &newO) |
| void | SetA (const KineVector &newA) |
| void | SetP (double newPX, double newPY, double newPZ) |
| void | SetN (double newNX, double newNY, double newNZ) |
| void | SetO (double newOX, double newOY, double newOZ) |
| void | SetA (double newAX, double newAY, double newAZ) |
| double | GetTheta (unsigned int index) |
| const double * | GetThetas (void) const |
| void | SetTheta (unsigned int index, double newVal) |
| void | SetLinkLengths (double newLink1, double newLink2, double newLink3, double newLink4, double newLink5) |
| void | SetOffset (unsigned int joint, double newOffset) |
| void | SetJointRange (unsigned int joint, double min, double max) |
| KineVector | CalculateN (const EndEffector &pose) |
| KineVector | Normalise (const KineVector &vector) |
Protected Member Functions | |
| void | CalcTheta4and5 (double angles[], const EndEffector &fromPosition) |
| int | ChooseSolution (const EndEffector &fromPosition, const double solutions[][5]) |
| double | CalcSolutionError (const double solution[], const EndEffector &fromPosition) |
| EndEffector | CalcFKForJoints (const double angles[]) |
| bool | SolutionInRange (const double angles[]) |
| void | PrintEndEffector (const EndEffector &endEffector) |
Protected Attributes | |
| EndEffector | endEffector |
| double | joints [5] |
| double | jointOffsets [5] |
| double | jointMin [5] |
| double | jointMax [5] |
| double | link1 |
| double | link2 |
| double | link3 |
| double | link4 |
| double | link5 |
The documentation for this class was generated from the following files:
- kinecalc.h
- kinecalc.cc