Class List

Here are the classes, structs, unions and interfaces with brief descriptions:

[detail level 123]

▼NKNI
CKatanaKinematics	The base class for all kinematic implementations
▼CKatanaKinematics5M180
Cangles_calc
Cposition
▼CKatanaKinematics6M180
Cangles_calc
Cposition
▼CKatanaKinematics6M90G
Cangles_calc
Cposition
▼CKatanaKinematics6M90T
Cangles_calc
Cposition
CKinematicParameters	To pass different parameters for the kinematic implementations
CKinematicsDefaultEncMinAlgorithm
CkmlFactory	This class is for internal use only It may change at any time It shields the configuration file parsing
CNoSolutionException	No solution found for the given cartesian coordinates
CTimer	Provides a stop-watch-like class with a resolution of milliseconds
▼NKNI_MHF
Cunary_deg2rad	Function-object version of rad2deg
Cunary_precalc_cos
Cunary_precalc_sin	Function-object which calculates sinus for n-elements of a container if used together with a STL algorithm
Cunary_rad2deg	Function-object version of rad2deg
CCannotGetSetPortAttributesException	Could not set or get the attributes for the given serial communication device
CCannotOpenPortException	Failed to open the serial communication device
CCCdlBase	Abstract base class for devices
CCCdlCOM	Encapsulates the serial port device
CCCdlSocket	Encapsulates the socket communication device
CCCplBase	Abstract base class for protocol definiton
CCCplSerial	Base class of two different serial protocols
CCCplSerialCRC	Implement the Serial-Zero protocol
CCikBase
CCKatana	Extended Katana class with additional functions
CCKatBase	Base Katana class
CCLMBase	Linear movement Class
CCMotBase	Motor class
CConfigFileEntryNotFoundException	The requested entry could not be found
CConfigFileOpenException	Accessing the given configuration file failed (may be: access denied or wrong path)
CConfigFileSectionNotFoundException	The requested section could not be found
CConfigFileStateException	The state of the configuration file wasn't "good"
CConfigFileSubsectionNotFoundException	The requested subsection could not be found
CConfigFileSyntaxErrorException	There was a syntax error in the configuration file
CContext
CCSctBase	Sensor Controller class
CDeviceReadException	Reading from the serial communication device failed
CDeviceWriteException	Writing to the serial communication device failed
CErrorException	The Katana returned an error string
CException
CFirmwareException	Exception reported by the firmware
CJointSpeedException	Joint speed too high
CMotorCrashException	The requested motor crashed during the movement
CMotorOutOfRangeException	The encoders for the given motor were out of range
CMotorTimeoutException	The timeout elapsed for the given motor and target position
CParameterReadingException	There was an error while reading a parameter from the robot
CParameterWritingException	The data you wanted to send to the robot was invalid
CPortNotOpenException	The port was not open
CReadNotCompleteException	The Katana didn't answer correctly within the given timeout
CReadWriteNotCompleteException	This exception is the base for the WriteNotComplete and ReadNotCompleteException
CSlaveErrorException	Slave error occurred
CTBlendtrace
CTBLENDtrajectory	[LMBLEND] Trajectory points
CTCdlCOMDesc	This structrue stores the attributes for a serial port device
CTHeader	Header of a communication packet
CTKatCBX	[CBX] connector box
CTKatCTB	[CTB] command table defined in the firmware
CTKatECH	[ECH] echo
CTKatEFF	Inverse Kinematics structure of the endeffektor
CTKatGNL	[GNL] general robot attributes
CTKatIDS	[IDS] identification string
CTKatMFW	[MFW] master firmware version/revision number
CTKatMOT	[MOT] every motor's attributes
CTKatSCT	[SCT] every sens ctrl's attributes
CTLM_points	[LM] linear movement: points to be interpolated
CTLMtrajectory	[LM] linear movement: parameters
CTMLMIP	[LM] Store intermediate targets for multiple linear movements
CTMotAPS	[APS] actual position
CTMotCLB	Calibration structure for single motors
CTMotDesc	Motor description (partly)
CTMotDYL	[DYL] dynamic limits
CTMotENL	[ENL] limits in encoder values (INTERNAL STRUCTURE!)
CTMotGNL	[GNL] motor generals
CTMotInit	Initial motor parameters
CTMotPVP	[PVP] position, velocity, pulse width modulation
CTMotSCP	[SCP] static controller parameters
CTMotSFW	[SFW] slave firmware
CTMotTPS	[TPS] target position
CTPacket	Communication packet
CTPoint3D
CTPoint6D	[LMBLEND] Standard coordinates for a point in space
CTSctDAT	[DAT] sensor data
CTSctDesc	Sensor controller description (partly)
CTSctGNL	[GNL] controller generals
CTSplinepoint
CWaitParameterException	Wait parameter set to false
CWriteNotCompleteException	Not all bytes could be written to the serial communication device
CWrongCRCException	CRC check for the answer package failed
CWrongParameterException	The given parameter was wrong