src/modules/robot/arm_solutions/RostockSolution.h

   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