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/********************************************************************
* Description: kinematics for corexy
* Adapted from trivkins.c
* ref: http://corexy.com/theory.html
********************************************************************/
#include "motion.h"
#include "hal.h"
#include "rtapi.h"
#include "rtapi.h"
#include "rtapi_app.h"
#include "rtapi_math.h"
#include "rtapi_string.h"
#include "kinematics.h"
static struct data {
hal_s32_t joints[EMCMOT_MAX_JOINTS];
} *data;
int kinematicsForward(const double *joints
,EmcPose *pos
,const KINEMATICS_FORWARD_FLAGS *fflags
,KINEMATICS_INVERSE_FLAGS *iflags
) {
pos->tran.x = 0.5 * (joints[0] + joints[1]);
pos->tran.y = 0.5 * (joints[0] - joints[1]);
pos->tran.z = joints[2];
pos->a = joints[3];
pos->b = joints[4];
pos->c = joints[5];
pos->u = joints[6];
pos->v = joints[7];
pos->w = joints[8];
return 0;
}
int kinematicsInverse(const EmcPose *pos
,double *joints
,const KINEMATICS_INVERSE_FLAGS *iflags
,KINEMATICS_FORWARD_FLAGS *fflags
) {
joints[0] = pos->tran.x + pos->tran.y;
joints[1] = pos->tran.x - pos->tran.y;
joints[2] = pos->tran.z;
joints[3] = pos->a;
joints[4] = pos->b;
joints[5] = pos->c;
joints[6] = pos->u;
joints[7] = pos->v;
joints[8] = pos->w;
return 0;
}
int kinematicsHome(EmcPose *world
,double *joint
,KINEMATICS_FORWARD_FLAGS *fflags
,KINEMATICS_INVERSE_FLAGS *iflags
) {
*fflags = 0;
*iflags = 0;
return kinematicsForward(joint, world, fflags, iflags);
}
KINEMATICS_TYPE kinematicsType() { return KINEMATICS_BOTH; }
KINS_NOT_SWITCHABLE
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");
static int comp_id;
int rtapi_app_main(void) {
comp_id = hal_init("corexykins");
if(comp_id < 0) return comp_id;
data = hal_malloc(sizeof(struct data));
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void) { hal_exit(comp_id); }
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