libnifalcon::FalconKinematic Class Reference

#include <FalconKinematic.h>

Inheritance diagram for libnifalcon::FalconKinematic:

Collaboration diagram for libnifalcon::FalconKinematic:

Public Types
enum	{ FALCON_KINEMATIC_OUT_OF_RANGE = 5000 }

Public Member Functions
	FalconKinematic ()
virtual	~FalconKinematic ()
double	getTheta (int encoder_value)
virtual bool	getAngles (std::array< double, 3 > &position, std::array< double, 3 > &angles)=0
virtual bool	getPosition (std::array< int, 3 > &encoders, std::array< double, 3 > &position)=0
virtual void	getWorkspaceOrigin (std::array< double, 3 > &origin)=0
virtual bool	getForces (const std::array< double, 3 > &position, const std::array< double, 3 > &cart_force, std::array< int, 3 > &enc_force)=0
Public Member Functions inherited from libnifalcon::FalconCore
	FalconCore ()
virtual	~FalconCore ()
int	getErrorCode ()

Additional Inherited Members
Protected Attributes inherited from libnifalcon::FalconCore
int	m_errorCode

Detailed Description

The Kinematic base class provides virtual functions for forward and inverse kinematic functions, as well as utility functions that all kinematics cores can share.

Member Enumeration Documentation

anonymous enum

Enumerator
FALCON_KINEMATIC_OUT_OF_RANGE	Returned if value requested is out of workspace range

Constructor & Destructor Documentation

libnifalcon::FalconKinematic::FalconKinematic ( )

inline

Constructor

virtual libnifalcon::FalconKinematic::~FalconKinematic ( )

inlinevirtual

Destructor

Member Function Documentation

virtual bool libnifalcon::FalconKinematic::getAngles ( std::array< double, 3 > &  position, std::array< double, 3 > &  angles  )

pure virtual

Given a caretesian position (in meters), return the angle of the legs requires to achieve the positions

Parameters

position	Position to get the angles for (in cartesian coordinates, meters)
angles	Array to write result into

Returns

true if angles are found, false otherwise (i.e. position out of workspace range)

Implemented in libnifalcon::FalconKinematicStamper.

virtual bool libnifalcon::FalconKinematic::getForces ( const std::array< double, 3 > &  position, const std::array< double, 3 > &  cart_force, std::array< int, 3 > &  enc_force  )

pure virtual

Given a caretesian position (in meters), and force vector (in newtons), return the force values that need to be sent to the firmware. Force values are capped at 4096.

Parameters

position	Current position of the end effector
cart_force	Force vector to apply to the end effector
enc_force	Force to be sent to the firmware

Returns

true if forces are generated, false otherwise.

Implemented in libnifalcon::FalconKinematicStamper.

virtual bool libnifalcon::FalconKinematic::getPosition ( std::array< int, 3 > &  encoders, std::array< double, 3 > &  position  )

pure virtual

Given a set of encoder values, return the cartesian position (in meters) of the end effector in relation to the origin. Note: Origin subject to change based on kinematics system. Use the workspaceOrigin() function to get what the system thinks its origin is.

Parameters

encoders	Encoder values for the 3 legs
position	Array to write result into

Returns

true if angles are found, false otherwise (i.e. position out of workspace range)

Implemented in libnifalcon::FalconKinematicStamper.

double libnifalcon::FalconKinematic::getTheta ( int  encoder_value )

inline

Given an encoder value, return the angle (in degrees) the leg is at (in the leg's local reference frame)

Parameters

encoder_value

Encoder ticks for a leg

Returns

Angle (in degrees) the leg is at

virtual void libnifalcon::FalconKinematic::getWorkspaceOrigin ( std::array< double, 3 > &  origin )

pure virtual

Returns the center point of the workspace. May not always be [0,0,0].

Parameters

origin

Array to store values in

Implemented in libnifalcon::FalconKinematicStamper.

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

• BUILD/libnifalcon-1.1/include/falcon/core/FalconKinematic.h