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/*
Copyright 2016 Dewey Garrett <dgarrett@panix.com>
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
*/
#include "kinematics.h"
#include "posemath.h"
#include "hal.h"
#include "rtapi.h"
#include "rtapi_math.h"
#include "rtapi_app.h"
KINS_NOT_SWITCHABLE
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsInverse);
EXPORT_SYMBOL(kinematicsForward);
MODULE_LICENSE("GPL");
#ifndef hypot
#define hypot(a,b) (sqrt((a)*(a)+(b)*(b)))
#endif
struct haldata {
hal_float_t *revolutions;
hal_float_t *theta_degrees;
hal_float_t *bigtheta_degrees;
} *haldata;
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
double radius,z,theta;
radius = joints[0];
z = joints[1];
theta = TO_RAD * joints[2];
pos->tran.x = radius * cos(theta);
pos->tran.y = radius * sin(theta);
pos->tran.z = z;
pos->a = 0;
pos->b = 0;
pos->c = 0;
pos->u = 0;
pos->v = 0;
pos->w = 0;
return 0;
}
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
// There is a potential problem when accumulating bigtheta -- loss of
// precision based on size of mantissa -- but in practice, it is probably ok
static int oldquad;
static int revolutions;
double theta,bigtheta;
int nowquad = 0;
double x = pos->tran.x;
double y = pos->tran.y;
double z = pos->tran.z;
if (x >= 0 && y >= 0) nowquad = 1;
else if (x < 0 && y >= 0) nowquad = 2;
else if (x < 0 && y < 0) nowquad = 3;
else if (x >= 0 && y < 0) nowquad = 4;
if (oldquad == 2 && nowquad == 3) {revolutions += 1;}
if (oldquad == 3 && nowquad == 2) {revolutions -= 1;}
theta = atan2(y,x);
bigtheta = theta + PM_2_PI * revolutions;
*(haldata->revolutions) = revolutions;
*(haldata->theta_degrees) = theta * TO_DEG;
*(haldata->bigtheta_degrees) = bigtheta * TO_DEG;
joints[0] = hypot(x,y);
joints[1] = z;
joints[2] = TO_DEG * bigtheta;
joints[3] = 0;
joints[4] = 0;
joints[5] = 0;
joints[6] = 0;
joints[7] = 0;
joints[8] = 0;
oldquad = nowquad;
return 0;
}
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_BOTH;
}
static int comp_id;
void rtapi_app_exit(void) { hal_exit(comp_id); }
int rtapi_app_main(void) {
int ans;
comp_id = hal_init("rosekins");
if(comp_id < 0) return comp_id;
haldata = hal_malloc(sizeof(struct haldata));
if((ans = hal_pin_float_new("rosekins.revolutions",
HAL_OUT, &(haldata->revolutions), comp_id)) < 0) goto error;
if((ans = hal_pin_float_new("rosekins.theta_degrees",
HAL_OUT, &(haldata->theta_degrees), comp_id)) < 0) goto error;
if((ans = hal_pin_float_new("rosekins.bigtheta_degrees",
HAL_OUT, &(haldata->bigtheta_degrees), comp_id)) < 0) goto error;
hal_ready(comp_id);
return 0;
error:
return ans;
}
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