23 #include "neuronics_katana.h"
24 #include "../manipulator.h"
44 OpenRaveManipulatorNeuronicsKatana::OpenRaveManipulatorNeuronicsKatana(
unsigned int count,
unsigned int countDevice) :
64 OpenRaveManipulatorNeuronicsKatana::angle_OR_to_device(
unsigned int number,
float angle)
const
70 _angle = M_PI - angle;
73 _angle = M_PI/2 - angle;
76 _angle = M_PI - angle;
79 _angle = M_PI - angle;
82 _angle = M_PI - angle;
98 OpenRaveManipulatorNeuronicsKatana::angle_device_to_OR(
unsigned int number,
float angle)
const
104 _angle = M_PI - angle;
107 _angle = M_PI/2 - angle;
110 _angle = M_PI - angle;
113 _angle = M_PI - angle;
116 _angle = M_PI - angle;