src/modules/robot/arm_solutions/JohannKosselSolution.h

   1 #ifndef JOHANNKOSSELSOLUTION_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 class JohannKosselSolution : public BaseSolution {
  14     public:
  15         JohannKosselSolution(Config*);
  16         void cartesian_to_actuator( float[], float[] );
  17         void actuator_to_cartesian( float[], float[] );
  18
  19         bool set_optional(char parameter, float value);
  20         bool get_optional(char parameter, float *value);
  21
  22     private:
  23         void init();
  24
  25         float arm_length;
  26         float arm_radius;
  27         float arm_length_squared;
  28
  29         float DELTA_TOWER1_X;
  30         float DELTA_TOWER1_Y;
  31         float DELTA_TOWER2_X;
  32         float DELTA_TOWER2_Y;
  33         float DELTA_TOWER3_X;
  34         float DELTA_TOWER3_Y;
  35 };
  36 #endif // JOHANNKOSSELSOLUTION_H