DynamicsInterface.h

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#ifndef DYNAMICSINTERFACE_H_
#define DYNAMICSINTERFACE_H_
 
/*---------------------------- Includes ------------------------------------*/
#include "Base/robotStruct.h"
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct Dyn_inertia{
    double M[ROBOT_MAX_DOF][ROBOT_MAX_DOF];
    int order_num;
}Dyn_inertia;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct Dyn_coriolis{
    double C[ROBOT_MAX_DOF][ROBOT_MAX_DOF];
    int order_num;
}Dyn_coriolis;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct Dyn_gravity{
    double D[ROBOT_MAX_DOF];
    int order_num;
}Dyn_gravity;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct Dyn_friction{
    double Fcv[ROBOT_MAX_DOF];
    int order_num;
}Dyn_friction;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct Dyn_externalTorque{
    double Fn[ROBOT_MAX_DOF];
    int order_num;
}Dyn_externalTorque;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct {
    double q[ROBOT_MAX_DOF];
    double qd[ROBOT_MAX_DOF];
    double qdd[ROBOT_MAX_DOF];
    double fext[6];
    int fcv_flag;
    int g_flag;
    double torque[ROBOT_MAX_DOF];
    double torque_1[ROBOT_MAX_DOF];
    int dof;
    PayLoad payload;
    //
    Dyn_inertia inertia;
    Dyn_coriolis coriolis;
    Dyn_gravity gravity;
    Dyn_friction friction;
    Dyn_externalTorque externalTorque;
}R_DYNAMICS;
 
extern void init_R_DYNAMICS(R_DYNAMICS* _rdyn, double* q, double* qd, double* qdd, double* torque, double* fext, int fcv_flag, int g_flag, int _dof, PayLoad* payload);
 
extern void init_R_DYNAMICS2(R_DYNAMICS* _rdyn, double* q, double* qd, double* qdd, int _dof);
 
extern void set_R_DYNAMICS_payload(R_DYNAMICS* _rdyn, PayLoad* payload);
 
extern void set_R_DYNAMICS_payload1(R_DYNAMICS* _rdyn, char* payloadname);
 
extern void set_joint_state_to_R_DYNAMICS(R_DYNAMICS* _rdyn, double* q, double* qd, double* qdd);
 
extern void get_joint_state_from_R_DYNAMICS(R_DYNAMICS* _rdyn, double* q,double* qd,double* qdd);
 
extern void set_torque_to_R_DYNAMICS(R_DYNAMICS* _rdyn, double* torque);
 
extern void get_torque_from_R_DYNAMICS(R_DYNAMICS* _rdyn, double* torque);
 
extern void set_fext_to_R_DYNAMICS(R_DYNAMICS* _rdyn, double* fext);
 
extern void set_R_DYNAMICS_INERTIA(R_DYNAMICS* _rdyn, double* q, int _dof);
 
extern void set_R_DYNAMICS_CORIOLIS(R_DYNAMICS* _rdyn, double* q, double* qd, int _dof);
 
extern void set_R_DYNAMICS_GRAVITY(R_DYNAMICS* _rdyn, double* q, int _dof);
 
extern void set_R_DYNAMICS_FRICTION(R_DYNAMICS* _rdyn, double* qd, int _dof);
 
extern void set_R_DYNAMICS_EXTERNALTORQUE(R_DYNAMICS* _rdyn, double* q,  double* fext, int _dof);
 
extern int Dyn_Inverse(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_Forward(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_Inertia(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_Coriolis(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_Gravity(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_Friction(char* serialLinkName, R_DYNAMICS* rdyn);
 
extern int Dyn_ExternalTorque(char* serialLinkName, R_DYNAMICS* rdyn);
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* DYNAMICSINTERFACE_H_ */