KinematicInterface.h

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#ifndef KINEMATICINTERFACE_H_
#define KINEMATICINTERFACE_H_
 
/*---------------------------- Includes ------------------------------------*/
#include "Base/robotStruct.h"
 
 
 
#ifdef __cplusplus
namespace HYYRobotBase
{
extern "C" {
#endif
 
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct{
    double      R[3][3];
    double      X[3];
    double      joint[10];
    double      kps[3];
    int             dof;
    double      redundancy;
    TOOL tool;
    WOBJ wobj;
}R7_KINE;
 
/*-------------------------------------------------------------------------*/
/*-------------------------------------------------------------------------*/
typedef struct{
    double joint[ROBOT_MAX_DOF];
    double joint_vel[ROBOT_MAX_DOF];
    double pose_vel[ROBOT_MAX_DOF];
    int dof;
    TOOL tool;
    WOBJ wobj;
}R_KINE_VEL;
 
extern void init_R7_KINE(R7_KINE* rkine);
 
extern void init_R7_KINE1(R7_KINE* rkine, double* angle, int* dof);
 
extern void init_R7_KINE2(R7_KINE* rkine, double* angle, int* dof, TOOL* tool, WOBJ* wobj);
 
extern void set_R7_KINE_joint(R7_KINE* rkine, double* joint);
 
extern void set_R7_KINE_pose(R7_KINE* rkine, double* X, double* RPY);
 
extern void get_R7_KINE_joint(R7_KINE* rkine, double* joint);
 
extern void get_R7_KINE_pose(R7_KINE* rkine, double* X, double* RPY);
 
extern void setToolWobjToR7_KINE(R7_KINE* rkine, TOOL* tool, WOBJ* wobj);
 
extern void setToolToR7_KINE(R7_KINE* rkine, TOOL* tool);
 
extern void setWobjToR7_KINE(R7_KINE* rkine, WOBJ* wobj);
 
extern void init_R_KINE_VEL(R_KINE_VEL* rkine_vel, int dof);
 
extern void init_R_KINE_VEL1(R_KINE_VEL* rkine_vel, double* joint,double* joint_vel, int dof);
 
extern void init_R_KINE_VEL2(R_KINE_VEL* rkine_vel, double* joint,double* pose_vel, int dof);
 
extern void init_R_KINE_VEL3(R_KINE_VEL* rkine_vel, double* joint, double* joint_vel, double* pose_vel, int dof, TOOL* tool, WOBJ* wobj);
 
extern void set_R_KINE_VEL_joint(R_KINE_VEL* rkine_vel, double* joint, double* joint_vel);
 
extern void set_R7_KINE_VEL_pose(R_KINE_VEL* rkine_vel, double* joint, double* pose_vel);
 
extern void get_R_KINE_VEL_joint(R_KINE_VEL* rkine_vel, double* joint_vel);
 
extern void get_R7_KINE_VEL_pose(R_KINE_VEL* rkine_vel, double* pose_vel);
 
extern void setToolWobjToR_KINE_VEL(R_KINE_VEL* rkine_vel, TOOL* tool, WOBJ* wobj);
 
extern void setToolToR_KINE_VEL(R_KINE_VEL* rkine_vel, TOOL* tool);
 
extern void setWobjToR_KINE_VEL(R_KINE_VEL* rkine_vel, WOBJ* wobj);
 
extern int Kine_Forward(char* serialLinkName, R7_KINE* r7kine);
 
extern int Kine_Inverse(char* serialLinkName, R7_KINE* r7kine);
 
int Kine_EndToJointVelocity(char* serialLinkName, R_KINE_VEL* rkine_vel);
 
int Kine_JointToEndVelocity(char* serialLinkName, R_KINE_VEL* rkine_vel);
 
#ifdef __cplusplus
}
}
#endif
 
 
#endif /* KINEMATICINTERFACE_H_ */