libKinematics.h

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/* --------------------------------------------------------------------------------
 #
 #      libKinematics.h
 #      Project : Kinematics
 #      author : jhaller
 #      24.04.2008
 #
 # --------------------------------------------------------------------------------*/

/*
* Kinematics library.
*
* General usage: kin_setType or (kin_setMDH and than kin_setImmob if needed,
* kin_setEPC, kin_setEncOff, kin_setRotDir, kin_setAngOff and kin_setAngRan),
* then kin_init, then use the conversion and kinematics functions.
*/

#ifndef WIN32
#define _declspec(dllexport) 
#endif // ifndef WIN32

#ifdef WIN32
#include <windows.h>
#endif // ifdef WIN32
#include <stdio.h>
#include <vector>
#include <iostream>
#include <string>
#include <cmath>
#include <fstream>
#include <ctime>

#include "kinematics.h"

extern "C"{



// This structure holds an int array including its length.
typedef struct IntVector
{
        int             length;
        int             data[MaxDof];
} IntVector;
// This structure holds a float array including its length.
typedef struct FloatVector
{
        int             length;
        float   data[MaxDof];
} FloatVector;


_declspec(dllexport) int kin_setType(int type);

_declspec(dllexport) int kin_setMDH(FloatVector* theta, FloatVector* d,
                FloatVector* a, FloatVector* alpha, int typeNr = -1);

_declspec(dllexport) int kin_setLinkLen(FloatVector* links);

_declspec(dllexport) int kin_setImmob(int immobile);

_declspec(dllexport) int kin_setEPC(IntVector* epc);

_declspec(dllexport) int kin_setEncOff(IntVector* encOffset);

_declspec(dllexport) int kin_setRotDir(IntVector* rotDir);

_declspec(dllexport) int kin_setAngOff(FloatVector* angleOffset);

_declspec(dllexport) int kin_setAngRan(FloatVector* angleRange);

_declspec(dllexport) int kin_setTcpOff(FloatVector* tcpOffset);


_declspec(dllexport) int kin_getType();

_declspec(dllexport) int kin_getMaxDOF();

_declspec(dllexport) int kin_getDOF();

_declspec(dllexport) int kin_getDOM();

_declspec(dllexport) int kin_getMDH(FloatVector* theta, FloatVector* d,
                FloatVector* a, FloatVector* alpha);

_declspec(dllexport) int kin_getImmob();

_declspec(dllexport) int kin_getEPC(IntVector* epc);

_declspec(dllexport) int kin_getEncOff(IntVector* encOffset);

_declspec(dllexport) int kin_getRotDir(IntVector* rotDir);

_declspec(dllexport) int kin_getAngOff(FloatVector* angleOffset);

_declspec(dllexport) int kin_getAngRan(FloatVector* angleRange);

_declspec(dllexport) int kin_getTcpOff(FloatVector* tcpOffset);

_declspec(dllexport) int kin_getVersion(IntVector* version);


_declspec(dllexport) int kin_init();


_declspec(dllexport) int kin_clean();


_declspec(dllexport) int kin_K4D2mDHAng(FloatVector* angleK4D, FloatVector* angleMDH);

_declspec(dllexport) int kin_mDH2K4DAng(FloatVector* angleMDH, FloatVector* angleK4D);

_declspec(dllexport) int kin_enc2rad(IntVector* enc, FloatVector* angle);

_declspec(dllexport) int kin_rad2enc(FloatVector* angle, IntVector* enc);

_declspec(dllexport) int kin_DK(FloatVector* angle, FloatVector* pose);

_declspec(dllexport) int kin_IK(FloatVector* pose, FloatVector* prev,
                FloatVector* angle, int maxBisection = 0);

} // extern c