libKinematics.h
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00001 /* --------------------------------------------------------------------------------
00002  #
00003  #      libKinematics.h
00004  #      Project : Kinematics
00005  #      author : jhaller
00006  #      24.04.2008
00007  #
00008  # --------------------------------------------------------------------------------*/
00009 
00010 /*
00011 * Kinematics library.
00012 *
00013 * General usage: kin_setType or (kin_setMDH and than kin_setImmob if needed,
00014 * kin_setEPC, kin_setEncOff, kin_setRotDir, kin_setAngOff and kin_setAngRan),
00015 * then kin_init, then use the conversion and kinematics functions.
00016 */
00017 
00018 #ifndef WIN32
00019 #define _declspec(dllexport) 
00020 #endif // ifndef WIN32
00021 
00022 #ifdef WIN32
00023 #include <windows.h>
00024 #endif // ifdef WIN32
00025 #include <stdio.h>
00026 #include <vector>
00027 #include <iostream>
00028 #include <string>
00029 #include <cmath>
00030 #include <fstream>
00031 #include <ctime>
00032 
00033 #include "kinematics.h"
00034 
00035 extern "C"{
00036 
00037 
00039 
00040 // This structure holds an int array including its length.
00041 typedef struct IntVector
00042 {
00043         int             length;
00044         int             data[MaxDof];
00045 } IntVector;
00046 // This structure holds a float array including its length.
00047 typedef struct FloatVector
00048 {
00049         int             length;
00050         float   data[MaxDof];
00051 } FloatVector;
00052 
00054 
00070 _declspec(dllexport) int kin_setType(int type);
00071 
00088 _declspec(dllexport) int kin_setMDH(FloatVector* theta, FloatVector* d,
00089                 FloatVector* a, FloatVector* alpha, int typeNr = -1);
00090 
00101 _declspec(dllexport) int kin_setLinkLen(FloatVector* links);
00102 
00112 _declspec(dllexport) int kin_setImmob(int immobile);
00113 
00122 _declspec(dllexport) int kin_setEPC(IntVector* epc);
00123 
00132 _declspec(dllexport) int kin_setEncOff(IntVector* encOffset);
00133 
00144 _declspec(dllexport) int kin_setRotDir(IntVector* rotDir);
00145 
00154 _declspec(dllexport) int kin_setAngOff(FloatVector* angleOffset);
00155 
00165 _declspec(dllexport) int kin_setAngRan(FloatVector* angleRange);
00166 
00175 _declspec(dllexport) int kin_setTcpOff(FloatVector* tcpOffset);
00176 
00178 
00186 _declspec(dllexport) int kin_getType();
00187 
00194 _declspec(dllexport) int kin_getMaxDOF();
00195 
00202 _declspec(dllexport) int kin_getDOF();
00203 
00210 _declspec(dllexport) int kin_getDOM();
00211 
00221 _declspec(dllexport) int kin_getMDH(FloatVector* theta, FloatVector* d,
00222                 FloatVector* a, FloatVector* alpha);
00223 
00228 _declspec(dllexport) int kin_getImmob();
00229 
00235 _declspec(dllexport) int kin_getEPC(IntVector* epc);
00236 
00242 _declspec(dllexport) int kin_getEncOff(IntVector* encOffset);
00243 
00249 _declspec(dllexport) int kin_getRotDir(IntVector* rotDir);
00250 
00257 _declspec(dllexport) int kin_getAngOff(FloatVector* angleOffset);
00258 
00265 _declspec(dllexport) int kin_getAngRan(FloatVector* angleRange);
00266 
00272 _declspec(dllexport) int kin_getTcpOff(FloatVector* tcpOffset);
00273 
00279 _declspec(dllexport) int kin_getVersion(IntVector* version);
00280 
00282 
00291 _declspec(dllexport) int kin_init();
00292 
00294 
00301 _declspec(dllexport) int kin_clean();
00302 
00304 
00313 _declspec(dllexport) int kin_K4D2mDHAng(FloatVector* angleK4D, FloatVector* angleMDH);
00314 
00323 _declspec(dllexport) int kin_mDH2K4DAng(FloatVector* angleMDH, FloatVector* angleK4D);
00324 
00333 _declspec(dllexport) int kin_enc2rad(IntVector* enc, FloatVector* angle);
00334 
00343 _declspec(dllexport) int kin_rad2enc(FloatVector* angle, IntVector* enc);
00344 
00353 _declspec(dllexport) int kin_DK(FloatVector* angle, FloatVector* pose);
00354 
00365 _declspec(dllexport) int kin_IK(FloatVector* pose, FloatVector* prev,
00366                 FloatVector* angle, int maxBisection = 0);
00367 
00368 } // extern c
00369 
00370 
00371 
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kni
Author(s): Neuronics AG (see AUTHORS.txt); ROS wrapper by Martin Günther
autogenerated on Tue May 28 2013 14:52:54