|
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) |
|
|
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) |
|
|
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: