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/*
** License GPL Version 2
*/
#ifndef SWITCHKINS_H // {
#define SWITCHKINS_H
#include "kinematics.h"
//hardcoded number of switchkins types (KS,KF,KI):
#define SWITCHKINS_MAX_TYPES 3
// KinematicsFORWARD functions
typedef int (*KF)(const double *joint,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags);
// KinematicsINVERSE functions
typedef int (*KI)(const struct EmcPose * world,
double *joint,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags);
// KinematicsSETUP functions
typedef int (*KS)(const int comp_id, // halpins
const char* coordinates, // module parameter
kparms* ksetup_parms //
);
//*********************************************************************
extern int switchkinsSetup(kparms* ksetup_parms,
KS* kset0, KS* kset1, KS* kset2,
KF* kfwd0, KF* kfwd1, KF* kfwd2,
KI* kinv0, KI* kinv1, KI* kinv2
);
#endif // }
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