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 alpha_steps_per_mm_checksum CHECKSUM("alpha_steps_per_mm")
  11 #define beta_steps_per_mm_checksum  CHECKSUM("beta_steps_per_mm")
  12 #define gamma_steps_per_mm_checksum CHECKSUM("gamma_steps_per_mm")
  13
  14 #define arm_length_checksum         CHECKSUM("arm_length")
  15 #define arm_radius_checksum         CHECKSUM("arm_radius")
  16
  17 #define alpha_angle_checksum                CHECKSUM("alpha_angle")
  18 #define beta_relative_angle_checksum         CHECKSUM("beta_relative_angle")
  19 #define gamma_relative_angle_checksum        CHECKSUM("gamma_relative_angle")
  20
  21 class RostockSolution : public BaseSolution {
  22     public:
  23         RostockSolution(Config* passed_config);
  24         void millimeters_to_steps( double millimeters[], int steps[] );
  25         void steps_to_millimeters( int steps[], double millimeters[] );
  26
  27         void set_steps_per_millimeter( double steps[] );
  28         void get_steps_per_millimeter( double steps[] );
  29
  30         float solve_arm( float millimeters[] );
  31         void rotate( float in[], float out[], float sin, float cos );
  32
  33         Config* config;
  34         float alpha_steps_per_mm;
  35         float beta_steps_per_mm;
  36         float gamma_steps_per_mm;
  37
  38         float arm_length;
  39         float arm_radius;
  40         float arm_length_squared;
  41
  42         float sin_alpha;
  43         float cos_alpha;
  44         float sin_beta;
  45         float cos_beta;
  46         float sin_gamma;
  47         float cos_gamma;
  48 };
  49
  50
  51
  52
  53
  54
  55 #endif // ROSTOCKSOLUTION_H