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/********************************************************************
* Description: trivkins.c
* general trivkins for 3 axis Cartesian machine
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* License: GPL Version 2
*
* Copyright (c) 2009 All rights reserved.
*
********************************************************************/
#include "motion.h"
#include "hal.h"
#include "rtapi.h"
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "rtapi_math.h"
#include "rtapi_string.h"
#include "kinematics.h"
#define SET(f) pos->f = joints[i]
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
return identityKinematicsForward(joints, pos, fflags, iflags);
}
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
return identityKinematicsInverse(pos, joints, iflags, fflags);
}
static KINEMATICS_TYPE ktype = -1;
KINEMATICS_TYPE kinematicsType()
{
return ktype;
}
#define TRIVKINS_DEFAULT_COORDINATES "XYZABCUVW"
static char *coordinates = TRIVKINS_DEFAULT_COORDINATES;
RTAPI_MP_STRING(coordinates, "Existing Axes");
static char *kinstype = "1"; // use KINEMATICS_IDENTITY
RTAPI_MP_STRING(kinstype, "Kinematics Type (Identity,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) {
kparms ksetup;
switch (*kinstype) {
case 'b': case 'B': ktype = KINEMATICS_BOTH; break;
case 'f': case 'F': ktype = KINEMATICS_FORWARD_ONLY; break;
case 'i': case 'I': ktype = KINEMATICS_INVERSE_ONLY; break;
case '1': default: ktype = KINEMATICS_IDENTITY;
}
comp_id = hal_init("trivkins");
if(comp_id < 0) return comp_id;
// see typedef for KS KinematicsSETUP:
ksetup.max_joints = EMCMOT_MAX_JOINTS;
ksetup.allow_duplicates = 1;
if (identityKinematicsSetup(comp_id, coordinates, &ksetup)) {
return -1; //setup failed
}
hal_ready(comp_id);
return 0;
}
void rtapi_app_exit(void) { hal_exit(comp_id); }
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