General Functions

functions.h is the header file for communicating with KUKA, trajectory generations, and geometrical transformations. More...

Functions
float *	rot2angle (float *rot)
	This method obtains Euler angles from the transformation matrix. More...
float *	angle2rot (float *angle)
	This method constructs the transformation matrix using the Euler angles. More...
float	deg2rad (float deg)
	This method converts a float degree value to a float radian value. More...
float	rad2deg (float rad)
	This method converts a float radian value to a float degree value. More...
float	mm2m (float mm)
	This method converts a float millimeter value to a float meter value. More...
float	m2mm (float m)
	This method converts a float meter value to a float millimeter value. More...
void	saveToFile (System::String^ str, System::String ^ Addr)
	This method saves a string in a file. More...
System::String ^	readFromDataGridView (System::Windows::Forms::DataGridView ^ DataView)
	This method creates a savable line out of a Data Grid View. More...
System::String ^	loadFromFile (System::String ^ Addr, int &count)
	This method loads the string from a file. More...
void	writeToDataGridView (System::Windows::Forms::DataGridView ^ DataView, System::String^ str, System::String^ delimiter)
	This method writes elements in the System String in the System windows Froms Data Grid View. More...
void	compoundTrans (float *eeRot, float *toolRot, float *rot)
	This method compounds two matrices. rot = eeRot*toolRot;. More...
void	rot2angle (float *rot, float *angle)
	This method obtains Euler angles from the transformation matrix. More...
void	angle2rot (float *angle, float *rot)
	This method constructs the transformation matrix using the Euler angles. More...
void	inverseTrans (float *eeRot, float *toolRot, float *rot)
	This method constructs the KUKA rotation matrix considering the tool attached to the end-effector. rToolRot = toolRot(1:3,1:3); pToolRot = toolRot(1:3, 4); invToolRot = [transpose(rToolRot), -transpose(rToolRot)*pToolRot;0, 0, 0, 1]; rot = eeRot*invToolRot;. More...
void	disp (float *rot, int row, int col)
	This method is an auxiliary function for displaying a matrix. More...
void	disp (float *rot, int row, int col, char *name)
	This method is an auxiliary function for displaying a matrix as well as its name. More...
void	rot2quat (float *rot, float *quat)
	This method obtains the quaternions from the transformation matrix. More...
void	quat2rot (float *quat, float *rot)
	This method constructs the transformation matrix using the quaternions. More...
void	startLogging (System::ComponentModel::BackgroundWorker^ workerLog, System::Windows::Forms::TextBox^ txtAdr, tFriMsrData &msr, int selection, unsigned int &j, niVec &recVec, phidgetsVec &phiVec, float *calibratedPhidgets, atiVec &atiVector, float *ee)
	This method selects desired variable using "selection" and logs their values. More...
void	rot2vec (float *rot, float *vec)
	This method rearranges the rotation matrix into a new float array to be fed into the trajectory generator. The new arrangement is meant for a better physical meaning of convergence. More...
void	vec2rot (float *vec, float *rot)
	This method arranges the new vector back to the transformation matrix. More...
void	startFri (System::ComponentModel::BackgroundWorker^ worker, tFriMsrData &msr, tFriCmdData &cmd, friRemote &friInst, bool &trajFlag, unsigned int &j, unsigned int &poseNum, char *kukaWriteCommand, float *tool, float *trg, float &speed, float *cartStiffVals, float *simulinkTrg)
	This is the main method responsible for starting the FRI communications and sending the commands to KUKA and receiving data from KUKA. More...

Detailed Description

Header file for communicating with KUKA, trajectory generations, and geometrical transformations.

The declarations here are for the functions.cpp

Date

July 2017

Version

0.1

Author

Mahyar Abdeetedal, mahyar.etedal@icloud.com

Copyright

Copyright (C) 2016 - 2017 Mahyar Abdeetedal

GNU General Public License

This file is part of the KUKA-UI.

The KUKA-UI is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version.

The KUKA-UI is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details.

You should have received a copy of the GNU General Public License along with the KUKA-UI. If not, see http://www.gnu.org/licenses/.

Function Documentation

◆ angle2rot() [1/2]

float* angle2rot

(

float *

angle

)

This method constructs the transformation matrix using the Euler angles.

Parameters

angle

This is the pointer containing the Euler angles.

Returns

A float array of the transformation matrix.

◆ angle2rot() [2/2]

void angle2rot	(	float *	angle,
		float *	rot
	)

This method constructs the transformation matrix using the Euler angles.

Parameters

angle	This is the pointer containing the Euler angles.
rot	A float output array of the transformation matrix.

Returns

The output is a void.

◆ compoundTrans()

void compoundTrans	(	float *	eeRot,
		float *	toolRot,
		float *	rot
	)

This method compounds two matrices. rot = eeRot*toolRot;.

Parameters

eeRot	Float array of the left matrix operand.
toolRot	Float array of the right matrix operand.
rot	Float output array of the result.

Returns

The output is a void.

◆ deg2rad()

float deg2rad

(

float

deg

)

This method converts a float degree value to a float radian value.

Parameters

deg	A float degree value.

Returns

A float radian value.

◆ disp() [1/2]

void disp	(	float *	rot,
		int	row,
		int	col
	)

This method is an auxiliary function for displaying a matrix.

Parameters

rot	A float array of the matrix to be displayed.
row	An integer specifying the number of rows.
col	An integer specifying the number of columns.

Returns

The output is a void.

◆ disp() [2/2]

void disp	(	float *	rot,
		int	row,
		int	col,
		char *	name
	)

This method is an auxiliary function for displaying a matrix as well as its name.

Parameters

rot	A float array of the matrix to be displayed.
row	An integer specifying the number of rows.
col	An integer specifying the number of columns
name	A character array of matrix's name.

Returns

The output is a void.

◆ inverseTrans()

void inverseTrans	(	float *	eeRot,
		float *	toolRot,
		float *	rot
	)

This method constructs the KUKA rotation matrix considering the tool attached to the end-effector.
rToolRot = toolRot(1:3,1:3);
pToolRot = toolRot(1:3, 4);
invToolRot = [transpose(rToolRot), -transpose(rToolRot)*pToolRot;0, 0, 0, 1];
rot = eeRot*invToolRot;.

Parameters

eeRot	Float array of the KUKA end-effector rotation matrix.
toolRot	Float array of the Tool rotation matrix.
rot	Float output array of the rotation matrix to be fed into KUKA.

Returns

The output is a void.

◆ loadFromFile()

System::String ^ loadFromFile	(	System::String ^	Addr,
		int &	count
	)

This method loads the string from a file.

Parameters

Addr	System String of the location of the file.
count	The integer number of lines loaded from the file.

Returns

System String that is loaded from the file.

◆ m2mm()

float m2mm

(

float

m

)

This method converts a float meter value to a float millimeter value.

Parameters

m	A float meter value.

Returns

A float millimeter value.

◆ mm2m()

float mm2m

(

float

mm

)

This method converts a float millimeter value to a float meter value.

Parameters

mm	A float millimeter value.

Returns

A float meter value.

◆ quat2rot()

void quat2rot	(	float *	quat,
		float *	rot
	)

This method constructs the transformation matrix using the quaternions.

Parameters

quat	This is the pointer containing the quaternions.
rot	A float output array of the transformation matrix.

Returns

The output is a void.

◆ rad2deg()

float rad2deg

(

float

rad

)

This method converts a float radian value to a float degree value.

Parameters

rad	A float radian value.

Returns

A float degree value.

◆ readFromDataGridView()

System::String readFromDataGridView

(

System::Windows::Forms::DataGridView ^

DataView

)

This method creates a savable line out of a Data Grid View.

Parameters

DataView

System Windows Forms Data Grid View element.

Returns

A String that can be saved into a file.

◆ rot2angle() [1/2]

float* rot2angle

(

float *

rot

)

This method obtains Euler angles from the transformation matrix.

Parameters

rot	This is the pointer containing the rotation matrix.

Returns

A float array of the Euler angles.

◆ rot2angle() [2/2]

void rot2angle	(	float *	rot,
		float *	angle
	)

This method obtains Euler angles from the transformation matrix.

Parameters

rot	This is the pointer containing the rotation matrix.
angle	A float output array of the Euler angles.

Returns

The output is a void.

◆ rot2quat()

void rot2quat	(	float *	rot,
		float *	quat
	)

This method obtains the quaternions from the transformation matrix.

Parameters

rot	A float array of the transformation matrix.
quat	This is the output pointer containing the quaternions.

Returns

The output is a void.

◆ rot2vec()

void rot2vec	(	float *	rot,
		float *	vec
	)

This method rearranges the rotation matrix into a new float array to be fed into the trajectory generator. The new arrangement is meant for a better physical meaning of convergence.

Parameters

rot	A float array of the transformation matrix.
vec	A float output array of the new arrangement.

Returns

The output is a void.

◆ saveToFile()

void saveToFile	(	System::String^	str,
		System::String ^	Addr
	)

This method saves a string in a file.

Parameters

str	A System String containing the line to be saved into the file.
Addr	A System String containing the desired address for the file.

Returns

The output is a void.

◆ startFri()

void startFri	(	System::ComponentModel::BackgroundWorker^	worker,
		tFriMsrData &	msr,
		tFriCmdData &	cmd,
		friRemote &	friInst,
		bool &	trajFlag,
		unsigned int &	j,
		unsigned int &	poseNum,
		char *	kukaWriteCommand,
		float *	tool,
		float *	trg,
		float &	speed,
		float *	cartStiffVals,
		float *	simulinkTrg
	)

This is the main method responsible for starting the FRI communications and sending the commands to KUKA and receiving data from KUKA.

Parameters

worker	A seperate System Component Model Background Worker for FRI communications.
msr	The msr variable containing KUKA parameters.
cmd	The cmd variable containing KUKA commands.
friInst	The friInst variable containing KUKA parameters.
trajFlag	A flag for indicating if KUKA UI is in middle of trajectory planned for a specific pose. If trajFlag is true, it shows that KUKA UI is busy applying a trajectory for reaching to a particular pose.
j	An index for the pose that currently is being done.
poseNum	poseNum is the number of Cartesian poses set for KUKA to reach.
kukaWriteCommand	A string of KUKA command for displaying purposes.
tool	A float array of the attached tool Euler angles.
trg	A float array of the attached the target pose Euler angles.
speed	A float for setting the maximum velocity and acceleration for trajectory generation.
cartStiffVals	A KUKA parameter for setting the robot stiffness for the Cartesian mode.
simulinkTrg	A float array of the target joint variables sent from MATLAB Simulink.

Returns

The output is a void.

◆ startLogging()

void startLogging	(	System::ComponentModel::BackgroundWorker^	workerLog,
		System::Windows::Forms::TextBox^	txtAdr,
		tFriMsrData &	msr,
		int	selection,
		unsigned int &	j,
		niVec &	recVec,
		phidgetsVec &	phiVec,
		float *	calibratedPhidgets,
		atiVec &	atiVector,
		float *	ee
	)

This method selects desired variable using "selection" and logs their values.

Parameters

workerLog	A seperate System Component Model Background Worker for logging.
txtAdr	A String of address for saving the log file.
msr	The msr variable containing all KUKA parameters.
selection	An integer variable that is used to perform a bitwise logical AND operation. The bitwise operator performs a bitwise logical AND between this variable and the constant assigned to the desired variable for logging. It takes each corresponding bit for both expressions. The bits in the result are set to 1 if and only if both bits in the input expressions have a value of 1; otherwise, the bit in the result is set to 0. For example, the binary representation of 170 (selection) is 0000 0000 1010 1010. The binary representation of 2 (a constant assigned for representing a variable to be logged or B) is 0000 0000 0000 0010. Performing the bitwise AND operation on these two values produces the binary result 0000 0000 0000 0010, which is decimal 2. (A & B) 0000 0000 1010 1010 0000 0000 0000 0010 ----------------— 0000 0000 0000 0010
j	An unsigned integer showing the current KUKA pose command number.
recVec	A vector containing all variables read from NI DAQ.
phiVec	A vector containing variables read from Phidgets.
calibratedPhidgets	A float array containing calibrated values for Phidgets data.
atiVector	A vector containing force/torque data read from ATI controller.
rot	A float array of the transformation matrix.
ee	A float array of the transformation matrix with the attached tool considered.

Returns

The output is a void.

◆ vec2rot()

void vec2rot	(	float *	vec,
		float *	rot
	)

This method arranges the new vector back to the transformation matrix.

Parameters

vec	A float array of the new arrangement.
rot	A float output array of the transformation matrix.

Returns

The output is a void.

◆ writeToDataGridView()

void writeToDataGridView	(	System::Windows::Forms::DataGridView ^	DataView,
		System::String^	str,
		System::String^	delimiter
	)

This method writes elements in the System String in the System windows Froms Data Grid View.

Parameters

DataView	The name of the System windows Forms Data Grid View.
str	System string to be parsed and written in the Data Grid View.
delimiter	System String for distinguishing each element in the string.

Returns

The output is a void.