kinematics6M180.h

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/***************************************************************************
 *   Copyright (C) 2008 by Neuronics AG                                    *
 *   support@neuronics.ch                                                  *
 ***************************************************************************/

#ifndef _KINEMATICS6M180_H_
#define _KINEMATICS6M180_H_

//std:
#include <string>
#include <queue>
#include <vector>
#include <map>
//kinematics:
#include "kinematics.h"
#include "KatanaKinematicsDecisionAlgorithms.h"
#include "MathHelperFunctions.h"

namespace AnaGuess {


class Kinematics6M180 : public Kinematics {
private:
        int mNumberOfMotors;
        int mNumberOfSegments;
        std::vector<double> mSegmentLength;
        std::vector<double> mAngleOffset;
        std::vector<double> mAngleStop;
        std::vector<int> mEncodersPerCycle;
        std::vector<int> mEncoderOffset;
        std::vector<int> mRotationDirection;
        bool mIsInitialized;

        struct position {
                double x;
                double y;
                double z;
        };
        struct angles_calc {
                double theta1;
                double theta2;
                double theta3;
                double theta4;
                double theta5;
                double theta234;
                double b1;
                double b2;
                double costh3;
        };
        typedef std::vector<angles_calc> angles_container;
        static const int cNrOfPossibleSolutions = 8;

        bool initialize();

        void IK_b1b2costh3_6M180(angles_calc &a, const position &p) const;
        void thetacomp(angles_calc &a, const position &p_m) const;
        bool angledef(angles_calc &a) const;
        bool AnglePositionTest(const angles_calc &a) const;
        bool PositionTest6M180(const angles_calc &a, const position &p) const;


protected:


public:
        Kinematics6M180();

        ~Kinematics6M180();

        std::vector<double> getLinkLength();
        std::vector<int> getEpc();
        std::vector<int> getEncOff();
        std::vector<int> getDir();
        std::vector<double> getAngOff();
        std::vector<double> getAngStop();
        std::vector<double> getAngRange();
        std::vector<double> getAngMin();
        std::vector<double> getAngMax();
        bool setLinkLength(const std::vector<double> aLengths);
        bool setAngOff(const std::vector<double> aAngOff);
        bool setAngStop(const std::vector<double> aAngStop);

        bool enc2rad(std::vector<double>& aAngles, const std::vector<int> aEncoders);

        bool rad2enc(std::vector<int>& aEncoders, const std::vector<double> aAngles);

        bool directKinematics(std::vector<double>& aPosition, const std::vector<double> aAngles);

        bool inverseKinematics(std::vector<double>& aAngles, const std::vector<double> aPosition, const std::vector<double> aStartingAngles);
};

} // namespace

#endif //_KINEMATICS6M180_H_