KatanaNativeInterface  $VERSION$
Class List
Here are the classes, structs, unions and interfaces with brief descriptions:
[detail level 123]
oNKNI
|oCTimerProvides a stop-watch-like class with a resolution of milliseconds
|oCkmlFactoryThis class is for internal use only It may change at any time It shields the configuration file parsing
|oCNoSolutionExceptionNo solution found for the given cartesian coordinates
|oCKinematicParametersTo pass different parameters for the kinematic implementations
|oCKatanaKinematicsThe base class for all kinematic implementations
|oCKatanaKinematics5M180
||oCangles_calc
||\Cposition
|oCKatanaKinematics6M180
||oCangles_calc
||\Cposition
|oCKatanaKinematics6M90G
||oCangles_calc
||\Cposition
|oCKatanaKinematics6M90T
||oCangles_calc
||\Cposition
|\CKinematicsDefaultEncMinAlgorithm
oNKNI_MHF
|oCunary_precalc_sinFunction-object which calculates sinus for n-elements of a container if used together with a STL algorithm
|oCunary_precalc_cos
|oCunary_rad2degFunction-object version of rad2deg
|\Cunary_deg2radFunction-object version of rad2deg
oCCannotGetSetPortAttributesExceptionCould not set or get the attributes for the given serial communication device
oCCannotOpenPortExceptionFailed to open the serial communication device
oCCCdlBaseAbstract base class for devices
oCCCdlCOMEncapsulates the serial port device
oCCCdlSocketEncapsulates the socket communication device
oCCCplBaseAbstract base class for protocol definiton
oCCCplSerialBase class of two different serial protocols
oCCCplSerialCRCImplement the Serial-Zero protocol
oCCikBase
oCCKatanaExtended Katana class with additional functions
oCCKatBaseBase Katana class
oCCLMBaseLinear movement Class
oCCMotBaseMotor class
oCConfigFileEntryNotFoundExceptionThe requested entry could not be found
oCConfigFileOpenExceptionAccessing the given configuration file failed (may be: access denied or wrong path)
oCConfigFileSectionNotFoundExceptionThe requested section could not be found
oCConfigFileStateExceptionThe state of the configuration file wasn't "good"
oCConfigFileSubsectionNotFoundExceptionThe requested subsection could not be found
oCConfigFileSyntaxErrorExceptionThere was a syntax error in the configuration file
oCContext
oCCSctBaseSensor Controller class
oCDeviceReadExceptionReading from the serial communication device failed
oCDeviceWriteExceptionWriting to the serial communication device failed
oCErrorExceptionThe Katana returned an error string
oCException
oCFirmwareExceptionException reported by the firmware
oCJointSpeedExceptionJoint speed too high
oCMotorCrashExceptionThe requested motor crashed during the movement
oCMotorOutOfRangeExceptionThe encoders for the given motor were out of range
oCMotorTimeoutExceptionThe timeout elapsed for the given motor and target position
oCParameterReadingExceptionThere was an error while reading a parameter from the robot
oCParameterWritingExceptionThe data you wanted to send to the robot was invalid
oCPortNotOpenExceptionThe port was not open
oCReadNotCompleteExceptionThe Katana didn't answer correctly within the given timeout
oCReadWriteNotCompleteExceptionThis exception is the base for the WriteNotComplete and ReadNotCompleteException
oCSlaveErrorExceptionSlave error occurred
oCTBlendtrace
oCTBLENDtrajectory[LMBLEND] Trajectory points
oCTCdlCOMDescThis structrue stores the attributes for a serial port device
oCTHeaderHeader of a communication packet
oCTKatCBX[CBX] connector box
oCTKatCTB[CTB] command table defined in the firmware
oCTKatECH[ECH] echo
oCTKatEFFInverse Kinematics structure of the endeffektor
oCTKatGNL[GNL] general robot attributes
oCTKatIDS[IDS] identification string
oCTKatMFW[MFW] master firmware version/revision number
oCTKatMOT[MOT] every motor's attributes
oCTKatSCT[SCT] every sens ctrl's attributes
oCTLM_points[LM] linear movement: points to be interpolated
oCTLMtrajectory[LM] linear movement: parameters
oCTMLMIP[LM] Store intermediate targets for multiple linear movements
oCTMotAPS[APS] actual position
oCTMotCLBCalibration structure for single motors
oCTMotDescMotor description (partly)
oCTMotDYL[DYL] dynamic limits
oCTMotENL[ENL] limits in encoder values (INTERNAL STRUCTURE!)
oCTMotGNL[GNL] motor generals
oCTMotInitInitial motor parameters
oCTMotPVP[PVP] position, velocity, pulse width modulation
oCTMotSCP[SCP] static controller parameters
oCTMotSFW[SFW] slave firmware
oCTMotTPS[TPS] target position
oCTPacketCommunication packet
oCTPoint3D
oCTPoint6D[LMBLEND] Standard coordinates for a point in space
oCTSctDAT[DAT] sensor data
oCTSctDescSensor controller description (partly)
oCTSctGNL[GNL] controller generals
oCTSplinepoint
oCWaitParameterExceptionWait parameter set to false
oCWriteNotCompleteExceptionNot all bytes could be written to the serial communication device
oCWrongCRCExceptionCRC check for the answer package failed
\CWrongParameterExceptionThe given parameter was wrong