src/modules/robot/arm_solutions/LinearDeltaSolution.h

   1 #ifndef LINEARDELTASOLUTION_H
   2 #define LINEARDELTASOLUTION_H
   3 #include "libs/Module.h"
   4 #include "BaseSolution.h"
   5
   6 class Config;
   7
   8 class LinearDeltaSolution : public BaseSolution {
   9     public:
  10         LinearDeltaSolution(Config*);
  11         void cartesian_to_actuator( float[], float[] );
  12         void actuator_to_cartesian( float[], float[] );
  13
  14         bool set_optional(const arm_options_t& options);
  15         bool get_optional(arm_options_t& options);
  16
  17     private:
  18         void init();
  19
  20         float arm_length;
  21         float arm_radius;
  22         float arm_length_squared;
  23
  24         float DELTA_TOWER1_X;
  25         float DELTA_TOWER1_Y;
  26         float DELTA_TOWER2_X;
  27         float DELTA_TOWER2_Y;
  28         float DELTA_TOWER3_X;
  29         float DELTA_TOWER3_Y;
  30 };
  31 #endif // LINEARDELTASOLUTION_H