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// Copyright 2013 Chris Radek <chris@timeguy.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 "hal.h"
#include "kinematics.h"
#include "rtapi_math.h"
#include "rtapi_app.h"
#include "rotarydeltakins-common.h"
struct haldata
{
hal_float_t *pfr;
hal_float_t *tl;
hal_float_t *sl;
hal_float_t *fr;
} *haldata;
int comp_id;
int kinematicsForward(const double * joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags) {
set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
return kinematics_forward(joints, pos);
}
int kinematicsInverse(const EmcPose *pos, double *joints,
const KINEMATICS_INVERSE_FLAGS *iflags,
KINEMATICS_FORWARD_FLAGS *fflags) {
set_geometry(*haldata->pfr, *haldata->tl, *haldata->sl, *haldata->fr);
return kinematics_inverse(pos, joints);
}
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_BOTH;
}
int rtapi_app_main(void)
{
int retval = 0;
comp_id = hal_init("rotarydeltakins");
if(comp_id < 0) retval = comp_id;
if(retval == 0)
{
haldata = hal_malloc(sizeof(struct haldata));
retval = !haldata;
}
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->pfr, comp_id,
"rotarydeltakins.platformradius");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->tl, comp_id,
"rotarydeltakins.thighlength");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->sl, comp_id,
"rotarydeltakins.shinlength");
if(retval == 0)
retval = hal_pin_float_newf(HAL_IN, &haldata->fr, comp_id,
"rotarydeltakins.footradius");
if(retval == 0)
{
*haldata->pfr = RDELTA_PFR;
*haldata->tl = RDELTA_TL;
*haldata->sl = RDELTA_SL;
*haldata->fr = RDELTA_FR;
}
if(retval == 0)
{
hal_ready(comp_id);
}
return retval;
}
void rtapi_app_exit(void)
{
hal_exit(comp_id);
}
KINS_NOT_SWITCHABLE
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");
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