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/********************************************************************
* Description: kinematics.h
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
********************************************************************/
#ifndef KINEMATICS_H
#define KINEMATICS_H
#include "emcpos.h" /* EmcPose */
/*
The type of kinematics used.
KINEMATICS_IDENTITY means that the joints and world coordinates are the
same, as for slideway machines (XYZ milling machines). The EMC will allow
changing from joint to world mode and vice versa. Also, the EMC will set
the actual world position to be the actual joint positions (not commanded)
by calling the forward kinematics each trajectory cycle.
KINEMATICS_FORWARD_ONLY means that only the forward kinematics exist.
Since the EMC requires at least the inverse kinematics, this should simply
terminate the EMC.
KINEMATICS_INVERSE_ONLY means that only the inverse kinematics exist.
The forwards won't be called, and the EMC will only allow changing from
joint to world mode at the home position.
KINEMATICS_BOTH means that both the forward and inverse kins are defined.
Like KINEMATICS_IDENTITY, the EMC will allow changing between world and
joint modes. However, the kins are assumed to be somewhat expensive
computationally, and the forwards won't be called at the trajectory rate
to compute actual world coordinates from actual joint values.
*/
typedef enum {
KINEMATICS_IDENTITY = 1, /* forward=inverse, both well-behaved */
KINEMATICS_FORWARD_ONLY, /* forward but no inverse */
KINEMATICS_INVERSE_ONLY, /* inverse but no forward */
KINEMATICS_BOTH /* forward and inverse both */
} KINEMATICS_TYPE;
/* the forward flags are passed to the forward kinematics so that they
can resolve ambiguities in the world coordinates for a given joint set,
e.g., for hexpods, this would be platform-below-base, platform-above-base.
The flags are also passed to the inverse kinematics and are set by them,
which is how they are changed from their initial value. For example, for
hexapods you could do a coordinated move that brings the platform up from
below the base to above the base. The forward flags would be set to
indicate this. */
typedef unsigned long int KINEMATICS_FORWARD_FLAGS;
/* the inverse flags are passed to the inverse kinematics so thay they
can resolve ambiguities in the joint angles for a given world coordinate,
e.g., for robots, this would be elbow-up, elbow-down, etc.
The flags are also passed to the forward kinematics and are set by them,
which is how they are changed from their initial value. For example, for
robots you could do a joint move that brings the elbow from a down
configuration to an up configuration. The inverse flags would be set to
indicate this. */
typedef unsigned long int KINEMATICS_INVERSE_FLAGS;
/* the forward kinematics take joint values and determine world coordinates,
given forward kinematics flags to resolve any ambiguities. The inverse
flags are set to indicate their value appropriate to the joint values
passed in. */
extern int kinematicsForward(const double *joint,
struct EmcPose * world,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags);
/* the inverse kinematics take world coordinates and determine joint values,
given the inverse kinematics flags to resolve any ambiguities. The forward
flags are set to indicate their value appropriate to the world coordinates
passed in. */
extern int kinematicsInverse(const struct EmcPose * world,
double *joint,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags);
/* the home kinematics function sets all its arguments to their proper
values at the known home position. When called, these should be set,
when known, to initial values, e.g., from an INI file. If the home
kinematics can accept arbitrary starting points, these initial values
should be used.
*/
extern int kinematicsHome(struct EmcPose * world,
double *joint,
KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags);
extern KINEMATICS_TYPE kinematicsType(void);
#endif
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