src/modules/robot/arm_solutions/RostockSolution.h

#ifndef ROSTOCKSOLUTION_H
#define ROSTOCKSOLUTION_H
#include "libs/Module.h"
#include "libs/Kernel.h"
#include "BaseSolution.h"
#include "libs/nuts_bolts.h"

#include "libs/Config.h"

#define arm_length_checksum         CHECKSUM("arm_length")
#define arm_radius_checksum         CHECKSUM("arm_radius")

#define alpha_angle_checksum                CHECKSUM("alpha_angle")
#define beta_relative_angle_checksum         CHECKSUM("beta_relative_angle")
#define gamma_relative_angle_checksum        CHECKSUM("gamma_relative_angle")

class RostockSolution : public BaseSolution {
    public:
        RostockSolution(Config*);
        void cartesian_to_actuator( float[], float[] );
        void actuator_to_cartesian( float[], float[] );

        float solve_arm( float millimeters[] );
        void rotate( float in[], float out[], float sin, float cos );

        float arm_length;
        float arm_radius;
        float arm_length_squared;

        float sin_alpha;
        float cos_alpha;
        float sin_beta;
        float cos_beta;
        float sin_gamma;
        float cos_gamma;
};


#endif // ROSTOCKSOLUTION_H
Commit	Line	Data
	1	#ifndef ROSTOCKSOLUTION_H
	2	#define ROSTOCKSOLUTION_H
	3	#include "libs/Module.h"
	4	#include "libs/Kernel.h"
	5	#include "BaseSolution.h"
	6	#include "libs/nuts_bolts.h"
	7
	8	#include "libs/Config.h"
	9
	10	#define arm_length_checksum CHECKSUM("arm_length")
	11	#define arm_radius_checksum CHECKSUM("arm_radius")
	12
	13	#define alpha_angle_checksum CHECKSUM("alpha_angle")
	14	#define beta_relative_angle_checksum CHECKSUM("beta_relative_angle")
	15	#define gamma_relative_angle_checksum CHECKSUM("gamma_relative_angle")
	16
	17	class RostockSolution : public BaseSolution {
	18	public:
	19	RostockSolution(Config*);
	20	void cartesian_to_actuator( float[], float[] );
	21	void actuator_to_cartesian( float[], float[] );
	22
	23	float solve_arm( float millimeters[] );
	24	void rotate( float in[], float out[], float sin, float cos );
	25
	26	float arm_length;
	27	float arm_radius;
	28	float arm_length_squared;
	29
	30	float sin_alpha;
	31	float cos_alpha;
	32	float sin_beta;
	33	float cos_beta;
	34	float sin_gamma;
	35	float cos_gamma;
	36	};
	37
	38
	39
	40
	41
	42
	43	#endif // ROSTOCKSOLUTION_H