BHKinematic Class Reference

#include <bhkinematic.h>

Inheritance diagram for BHKinematic:

[legend]Collaboration diagram for BHKinematic:


Public Member Functions
	BHKinematic ()
void	forwardKinematics (const BHandKin::FINGER finger)
void	forwardKinematics ()
TRSF_PTR	getTrsf (const BHandKin::FINGER finger)
bool	getTS (const BHandKin::FINGER finger)
void	joint2Motor (int result[4], double joints[3], double spread)
	Computes the motor values for all Joints without considering TS-Activation.
void	joint2Motor (int result[4], double joints[8])
	Computes the motor values for all Joints without considering TS-Activation.
void	joint2MotorJoint1 (const BHandKin::FINGER finger, double &joint, int &motor, double &joint1)
	Computes the motor value for given joint value and the corresponding value for joint1*.
int	joint2Spread (const double &joint)
	Compputes the Motor value for a given Spead joint value.
void	joint2SpreadJoint1 (double &joint, int &motor, double &joint1)
	Computes the joint vlaues of the spread joint an the corresponding motor copunt value.
void	motor2Joint (const int &finger, const int &motor, double &joint0, double &joint1)
void	motor2Joint (double result, int motorValues)
void	resetKinematic ()
void	setTS (const BHandKin::FINGER finger, const bool flag=true)
void	showJointValues ()
void	showTrsf (const BHandKin::FINGER finger) const
void	showTrsf () const
void	updateJointValues (int *motorValues)
	Updates the joint values (the class internal values BHKinemtic::JointValues) form given motor values.
	~BHKinematic ()
Static Public Attributes
Length constants for kinematic computation
Constants for Motor to Joint calculation
static const double	FM2JNoTorque = 1.0/125.0
static const double	FM2JTorque = 4.0/375.0
static const double	SM2J = 2.0/35.0
Constants for finger joint to Motor value calculation
static const double	J2FMNoTorque = 125.0
static const double	J2FMTorque = 375.0/4.0
static const double	J2SM = 35.0/2.0
Default values for Finger Joints .
Rotation Axis along Joint center
static const double	JOINT0MAX_DEG = 140.0 + BHKinematic::JOINT0STDVALUE_DEG
static const double	JOINT0MAX_RAD = 142.46 * DEGTORAD
static const double	JOINT0STDVALUE_DEG = 2.46
static const double	JOINT0STDVALUE_RAD = 2.46 * DEGTORAD
static const double	JOINT1MAX_DEG = 48.0 + BHKinematic::JOINT1STDVALUE_DEG
static const double	JOINT1MAX_RAD = BHKinematic::JOINT1MAX_DEG * DEGTORAD
static const double	JOINT1STDVALUE_DEG = 45.0
static const double	JOINT1STDVALUE_RAD = 45.0 * DEGTORAD
Default values of Fingers for Kinematic.
Roation center along finger tip
static const double	JOINT1STDVALUE_DIFF_KIN_DEG = BHKinematic::JOINT1STDVALUE_KIN_DEG - BHKinematic::JOINT1STDVALUE_DEG
static const double	JOINT1STDVALUE_DIFF_KIN_RAD = BHKinematic::JOINT1STDVALUE_DIFF_KIN_DEG * DEGTORAD
static const double	JOINT1STDVALUE_KIN_DEG = 50.0
static const double	JOINT1STDVALUE_KIN_RAD = BHKinematic::JOINT1STDVALUE_KIN_DEG * DEGTORAD
Protected Member Functions
Clipping functions for joint values
double	clipJ0 (const double &value) const
double	clipJ1 (const double &value) const
Protected Attributes
FingerTransforms	FingerTrsf
BHandJoints	JointValues

Detailed Description

Class for calcualtion of BarrettHand kinematics.

Author:: Tim Baier (tbaier@informatik.uni-hamburg.de)

Todo:

Make sure tht kinematic is right!

Add TorqueSwitch status to joint2motor methods

Inverse Kinematik must be implemented.

TorqueSwitch state must be considered.

Bug:

TorqueSwitch status not considered joint2motor methods

Kinematic does not handle TorqueSwicth activation properly.

Kinematic computes somtimes false motor values :-( .

Constructor & Destructor Documentation

BHKinematic::BHKinematic ( )

Default constructor

BHKinematic::~BHKinematic ( )

Default destructor

Member Function Documentation

double BHKinematic::clipJ0 ( const double & value ) const [inline, protected]

Clipping function for joint 0 of fingers

Parameters:

value

Value to clip

Returns:: Clipped value

double BHKinematic::clipJ1 ( const double & value ) const [inline, protected]

Clipping function for joint 1 of fingers

Parameters:

value

Value to clip

Returns:: Clipped value

void BHKinematic::forwardKinematics ( const BHandKin::FINGER finger )

Computes the forward kinematics for one finger BarrettHand

Parameters:

finger

Finger for which the kintematic should be computed

void BHKinematic::forwardKinematics ( )

Computes the forward kinematics for BarrettHand base on current joint values

TRSF_PTR BHKinematic::getTrsf ( const BHandKin::FINGER finger ) [inline]

Retunrs TRSF_PTR for finger

Parameters:

finger

Finger for the TRSF_PTR.

bool BHKinematic::getTS ( const BHandKin::FINGER finger ) [inline]

Returns the value of the TorqueSwicth falg for a finger

Parameters:

finger

Finger

Returns:: Status of TroqueSwicth flag for finger.

void BHKinematic::joint2Motor	(	int	result[4],
		double	joints[3],
		double	spread
	)

Computes the motor values for all Joints without considering TS-Activation.

Parameters:

	result	The Motor counts for the four motors. The order is F1,F2,F3, Spread
	joints	Input of joint values (Unit: deg). Order is : F1J1, F2J1, F3J1
	spread	Value of spread joint

void BHKinematic::joint2Motor	(	int	result[4],
		double	joints[8]
	)

Computes the motor values for all Joints without considering TS-Activation.

Parameters:

	result	The Motor counts for the four motors. The order is F1,F2,F3, Spread
	joints	Input of joint values (Unit: deg). Order is : F1J1, F1J2, F2J1, F2J2, F3J1, F3J2, Spread,-Spread

void BHKinematic::joint2MotorJoint1	(	const BHandKin::FINGER	finger,
		double &	joint,
		int &	motor,
		double &	joint1
	)

Computes the motor value for given joint value and the corresponding value for joint1*.

Warning:: if TorqueSwicth has been activated the joint value is changed the the value of the TS activation point

int BHKinematic::joint2Spread ( const double & joint )

Compputes the Motor value for a given Spead joint value.

Parameters:

joint

Joint value of Spread joint (unit: deg)

Returns:: Motor counts of Spread for angle

void BHKinematic::joint2SpreadJoint1	(	double &	joint,
		int &	motor,
		double &	joint1
	)

Computes the joint vlaues of the spread joint an the corresponding motor copunt value.

joint The joint value aof Spread (unit deg)

Parameters:

	motor	The return value for the motor counts
	joint1	The opposite spread joint value

void BHKinematic::motor2Joint	(	const int &	finger,
		const int &	motor,
		double &	joint0,
		double &	joint1
	)

Computes the joint values for a finger from a given motor value

Parameters:

	finger	Number of Finger for which the joint values should be computed (from 1 to 4)
	motor	Current motor value.
	joint0	Returned Joint value for joint 1 of finger.
	joint1	Returned Joint value for joint 1 of finger.

void BHKinematic::motor2Joint	(	double *	result,
		int *	motorValues
	)

Computes the joint values for each finger based on the motor postion and TorqueSwitch status.

Parameters:

	result	Will contain joint angles for all 8 joints after computation. So input must be somthing like double result[8].
	motorValues	Array of 4 int's which contains the motor positions (in ticks)

void BHKinematic::resetKinematic ( )

restes kinmeatic to std joint values and deactivates TS. Spread is set to 0

void BHKinematic::setTS	(	const BHandKin::FINGER	finger,
		const bool	flag = `true`
	)			`[inline]`

Sets the TorqueSwitch Flag for a finger.

Parameters:

	finger	Finger for which the TorqueSwitch is set.
	flag	TorqueSwicth enabled or not

void BHKinematic::showJointValues ( )

Prints all Joint values for the hand on terminal

void BHKinematic::showTrsf ( const BHandKin::FINGER finger ) const

Prints the Transformations of the finger on console.

Parameters:

finger

Finger which transformation should be printed.

void BHKinematic::showTrsf ( ) const

Prints the Transformations of all fingers on console.

void BHKinematic::updateJointValues ( int * motorValues )

Updates the joint values (the class internal values BHKinemtic::JointValues) form given motor values.

TS-Activation is not considered.

Parameters:

motorValues

The motor values.

Field Documentation

FingerTransforms BHKinematic::FingerTrsf [protected]

Container for Transformation of all fingers

const double BHKinematic::FM2JNoTorque = 1.0/125.0 [static]

Factor to compute JointValues for fingers from Motor counts without TorqueSwicth being activated

const double BHKinematic::FM2JTorque = 4.0/375.0 [static]

Factor to compute JointValues for fingers from Motor counts with TorqueSwicth being activated

const double BHKinematic::J2FMNoTorque = 125.0 [static]

Factor to compute Motor counts for fingers from Finger joint vlaues counts without TorqueSwicth being activated

const double BHKinematic::J2FMTorque = 375.0/4.0 [static]

Factor to compute Motor counts for fingers from Finger joint vlaues counts with TorqueSwicth being activated

const double BHKinematic::J2SM = 35.0/2.0 [static]

Factor to compute Spread Motor counts form JointValues

const double BHKinematic::JOINT0MAX_DEG = 140.0 + BHKinematic::JOINT0STDVALUE_DEG [static]

Max value for joint 1 of each finger. Unit : RAD

const double BHKinematic::JOINT0MAX_RAD = 142.46 * DEGTORAD [static]

Max value for joint 0 of each finger. Unit : RAD

const double BHKinematic::JOINT0STDVALUE_DEG = 2.46 [static]

Default (min) value for joint 0 of each finger. Unit : DEG

const double BHKinematic::JOINT0STDVALUE_RAD = 2.46 * DEGTORAD [static]

Default (min) value for joint 0 of each finger. Unit : RAD

const double BHKinematic::JOINT1MAX_DEG = 48.0 + BHKinematic::JOINT1STDVALUE_DEG [static]

Max value for joint 1 of each finger. Unit : DEG

const double BHKinematic::JOINT1MAX_RAD = BHKinematic::JOINT1MAX_DEG * DEGTORAD [static]

Max value for joint 1 of each finger. Unit : RAD

const double BHKinematic::JOINT1STDVALUE_DEG = 45.0 [static]

Default (min) value for joint 1 of each finger. Unit : DEG

const double BHKinematic::JOINT1STDVALUE_DIFF_KIN_DEG = BHKinematic::JOINT1STDVALUE_KIN_DEG - BHKinematic::JOINT1STDVALUE_DEG [static]

Difference between Joint 1 default value and Kinematic value. Unit : DEG.

const double BHKinematic::JOINT1STDVALUE_DIFF_KIN_RAD = BHKinematic::JOINT1STDVALUE_DIFF_KIN_DEG * DEGTORAD [static]

Difference between Joint 1 default value and Kinematic value. Unit : RAD.

const double BHKinematic::JOINT1STDVALUE_KIN_DEG = 50.0 [static]

Default (min) value for joint 1 of each finger for Kinematic computation. Unit : DEG

const double BHKinematic::JOINT1STDVALUE_KIN_RAD = BHKinematic::JOINT1STDVALUE_KIN_DEG * DEGTORAD [static]

Default (min) value for joint 1 of each finger for Kinematic computation. Unit : RAD

const double BHKinematic::JOINT1STDVALUE_RAD = 45.0 * DEGTORAD [static]

Default (min) value for joint 1 of each finger. Unit : RAD

BHandJoints BHKinematic::JointValues [protected]

Conatiner for Values of all joints

const double BHKinematic::SM2J = 2.0/35.0 [static]

Factor to compute JointValues for spread from Motor counts

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

bhkinematic.h
bhkinematic.cc

Tim Baier bhandlib v0.25

Generated Wed Aug 16 14:59:50 2006 by

1.4.7

BHKinematic Class Reference

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Field Documentation