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/********************************************************************
* !!! Declining usage
* !!! This userspace program was been separated from the original
* !!! genserkins.c as part of refactoring kinematics for
* !!! switchkins support. The userspace program has not been
* !!! updated since 2009 (commit 1939285758) and correct
* !!! functioning in its current state is doubtful.
*
* Description: ugenserkins.c
* Test program (originally part of genserkins.c)
* License GPL Version 2
********************************************************************/
#include <stdio.h> /* ulapi */
#include <sys/time.h> /* struct timeval */
#include "genserkins.h"
static double timestamp()
{
struct timeval tp;
if (0 != gettimeofday(&tp, NULL)) {
return 0.0;
}
return ((double) tp.tv_sec) + ((double) tp.tv_usec) / 1000000.0;
}
int main(int argc, char *argv[])
{
#define BUFFERLEN 256
char buffer[BUFFERLEN];
int inverse = 1;
int jacobian = 0;
EmcPose pos = { {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0 };
EmcPose vel = { {0.0, 0.0, 0.0}, 0.0, 0.0, 0.0 }; // will need this for
// jacobian
double joints[6] = { 0.0 };
double jointvels[6] = { 0.0 };
KINEMATICS_INVERSE_FLAGS iflags = 0;
KINEMATICS_FORWARD_FLAGS fflags = 0;
int t;
int retval = 0;
double start, end;
int comp_id;
kparms kp;
kp.max_joints = GENSER_MAX_JOINTS;
kp.allow_duplicates = 0;
comp_id = hal_init("usergenserkins");
if (genserKinematicsSetup(comp_id,"XYZABC",&kp)) printf("unexpected\n");
genser_kin_init();
/* syntax is a.out {i|f # # # # # #} */
if (argc == 8) {
if (argv[1][0] == 'f') {
/* joints passed, so do iterations on forward kins for timing */
for (t = 0; t < 6; t++) {
if (1 != sscanf(argv[t + 2], "%lf", &joints[t])) {
fprintf(stderr, "bad value: %s\n", argv[t + 2]);
return 1;
}
}
inverse = 0;
} else if (argv[1][0] == 'i') {
/* world coords passed, so do iterations on inverse kins for
timing */
if (1 != sscanf(argv[2], "%lf", &pos.tran.x)) {
fprintf(stderr, "bad value: %s\n", argv[2]);
return 1;
}
if (1 != sscanf(argv[3], "%lf", &pos.tran.y)) {
fprintf(stderr, "bad value: %s\n", argv[3]);
return 1;
}
if (1 != sscanf(argv[4], "%lf", &pos.tran.z)) {
fprintf(stderr, "bad value: %s\n", argv[4]);
return 1;
}
if (1 != sscanf(argv[5], "%lf", &pos.a)) {
fprintf(stderr, "bad value: %s\n", argv[5]);
return 1;
}
if (1 != sscanf(argv[6], "%lf", &pos.b)) {
fprintf(stderr, "bad value: %s\n", argv[6]);
return 1;
}
if (1 != sscanf(argv[7], "%lf", &pos.c)) {
fprintf(stderr, "bad value: %s\n", argv[7]);
return 1;
}
inverse = 1;
} else {
fprintf(stderr, "syntax: %s {i|f # # # # # #}\n", argv[0]);
hal_exit(comp_id);
return 1;
}
/* need an initial estimate for the forward kins, so ask for it */
if (inverse == 0) {
do {
printf("initial estimate for Cartesian position, xyzrpw: ");
fflush(stdout);
if (NULL == fgets(buffer, BUFFERLEN, stdin)) {
hal_exit(comp_id);
return 0;
}
} while (6 != sscanf(buffer, "%lf %lf %lf %lf %lf %lf",
&pos.tran.x, &pos.tran.y, &pos.tran.z, &pos.a, &pos.b, &pos.c));
}
start = timestamp();
if (inverse) {
fprintf(stderr,"%stest pos.b\n",__FILE__);
joints[4]=90;
pos.tran.x= 19.2;
pos.tran.y= 5.5;
pos.tran.z= 9.4;
pos.a = 92.88;
pos.b = -90;
pos.c = 87.12;
fprintf(stderr,"gki0:P %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f\n",
pos.tran.x,pos.tran.y,pos.tran.z,pos.a,pos.b,pos.c);
fprintf(stderr,"gki1:J %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f\n",
joints[0],joints[1],joints[2],joints[3],joints[4],joints[5]);
retval = genserKinematicsInverse(&pos, joints, &iflags, &fflags);
fprintf(stderr,"gki2:J %6.2f %6.2f %6.2f %6.2f %6.2f %6.2f\n",
joints[0],joints[1],joints[2],joints[3],joints[4],joints[5]);
if (0 != retval) {
printf("inv kins error %d <%s>\n", retval,go_result_to_string(retval));
}
} else {
retval = genserKinematicsForward(joints, &pos, &fflags, &iflags);
if (0 != retval) {
printf("fwd kins error %d\n", retval);
}
}
end = timestamp();
printf("calculation time: %f secs\n", (end - start));
printf("Joints: 0=%8.3f 1=%8.3f 2=%8.3f 3=%8.3f 4=%8.3f 5=%8.3f\n",
joints[0],joints[1],joints[2], joints[3],joints[4],joints[5]);
printf("Inverse: x=%8.3f y=%8.3f z=%8.3f a=%8.3f b=%8.3f z=%8.3f\n",
pos.tran.x,pos.tran.y,pos.tran.z,pos.a,pos.b,pos.c);
hal_exit(comp_id);
return 0;
}
/* end of if args for timestamping */
/* else we're interactive, terminate with 'quit'|'exit'|CTRL-D */
while (!feof(stdin)) {
if (inverse) {
if (jacobian) {
printf("jinv> ");
} else {
printf("inv> ");
}
} else {
if (jacobian) {
printf("jfwd> ");
} else {
printf("fwd> ");
}
}
fflush(stdout);
if (NULL == fgets(buffer, BUFFERLEN, stdin)) {
break;
}
if (buffer[0] == 'i') {
inverse = 1;
continue;
} else if (buffer[0] == 'f') {
inverse = 0;
continue;
} else if (buffer[0] == 'j') {
jacobian = !jacobian;
continue;
} else if (buffer[0] == 'q') { //quit
break;
} else if (buffer[0] == 'e') { //exit
break;
}
if (inverse) {
if (jacobian) {
if (12 != sscanf(buffer,
"%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
&pos.tran.x, &pos.tran.y, &pos.tran.z, &pos.a, &pos.b,
&pos.c, &vel.tran.x, &vel.tran.y, &vel.tran.z, &vel.a,
&vel.b, &vel.c)) {
printf("?\n");
} else {
//FIXME-AJ
//disabled for now retval = jacobianInverse(&pos, &vel, joints, jointvels);
printf("%f %f %f %f %f %f\n",
jointvels[0],
jointvels[1],
jointvels[2],
jointvels[3], jointvels[4], jointvels[5]);
if (0 != retval) {
printf("inv Jacobian error %d\n", retval);
} else {
//FIXME-AJ
//disabled for now retval = jacobianForward(joints, jointvels, &pos, &vel);
printf("%f %f %f %f %f %f\n",
vel.tran.x,
vel.tran.y, vel.tran.z, vel.a, vel.b, vel.c);
if (0 != retval) {
printf("fwd kins error %d\n", retval);
}
}
}
} else {
if (6 != sscanf(buffer, "%lf %lf %lf %lf %lf %lf",
&pos.tran.x,
&pos.tran.y, &pos.tran.z, &pos.a, &pos.b, &pos.c)) {
printf("?\n");
} else {
fprintf(stderr,"gki1:\n");
retval =
genserKinematicsInverse(&pos, joints, &iflags, &fflags);
printf("%f %f %f %f %f %f\n", joints[0], joints[1],
joints[2], joints[3], joints[4], joints[5]);
if (0 != retval) {
printf("inv kins error %d <%s>\n", retval,go_result_to_string(retval));
} else {
retval =
genserKinematicsForward(joints, &pos, &fflags, &iflags);
printf("%f %f %f %f %f %f\n", pos.tran.x, pos.tran.y,
pos.tran.z, pos.a, pos.b, pos.c);
if (0 != retval) {
printf("fwd kins error %d\n", retval);
}
}
}
}
} else {
if (jacobian) {
if (12 != sscanf(buffer,
"%lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
&joints[0], &joints[1], &joints[2], &joints[3],
&joints[4], &joints[5], &jointvels[0], &jointvels[1],
&jointvels[2], &jointvels[3], &jointvels[4],
&jointvels[5])) {
printf("?\n");
} else {
//FIXME-AJ
//disabled for now retval = jacobianForward(joints, jointvels, &pos, &vel);
printf("%f %f %f %f %f %f\n",
vel.tran.x,
vel.tran.y, vel.tran.z, vel.a, vel.b, vel.c);
if (0 != retval) {
printf("fwd kins error %d\n", retval);
} else {
//FIXME-AJ
//disabled for now retval = jacobianInverse(&pos, &vel, joints, jointvels);
printf("%f %f %f %f %f %f\n",
jointvels[0],
jointvels[1],
jointvels[2],
jointvels[3], jointvels[4], jointvels[5]);
if (0 != retval) {
printf("inv kins error %d <%s>\n", retval,go_result_to_string(retval));
}
}
}
} else {
if (6 != sscanf(buffer, "%lf %lf %lf %lf %lf %lf",
&joints[0], &joints[1], &joints[2], &joints[3], &joints[4], &joints[5])) {
printf("?\n");
} else {
retval = genserKinematicsForward(joints, &pos, &fflags, &iflags);
printf("xyzabc: %f %f %f %f %f %f\n",
pos.tran.x, pos.tran.y, pos.tran.z, pos.a, pos.b, pos.c);
if (0 != retval) {
printf("fwd kins error %d\n", retval);
} else {
retval = genserKinematicsInverse(&pos, joints, &iflags, &fflags);
printf("j0--j5: %f %f %f %f %f %f\n",
joints[0], joints[1], joints[2], joints[3], joints[4], joints[5]);
if (0 != retval) {
printf("inv kins error %d <%s>\n", retval,go_result_to_string(retval));
}
}
}
}
}
}
hal_exit(comp_id);
return 0;
#undef ITERATIONS
#undef BUFFERLEN
}
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