KineCalc Class Reference

Collaboration diagram for KineCalc:

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)

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

Public Member Functions