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55 lines
1.2 KiB
55 lines
1.2 KiB
#ifndef _ROBOT_H_
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#define _ROBOT_H_
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#include "Vec.h"
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#include "Mat.h"
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#include "friComm.h"
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#include "friremote.h"
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#include "defines.h"
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#include "Trajectroy.h"
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typedef Vec<float, FRI_CART_VEC> VecTorque;
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#define jointNumber LBR_MNJ
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typedef Vec<float,jointNumber> VecJoint;
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class Robot
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{
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public:
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typedef Vec<float,jointNumber> VecJoint;
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static int getJointCount(void)
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{
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}
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static VecJoint getJointRange(void)
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{
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return VecJoint(180.0f);
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}
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static VecJoint getJointVelocity(void)
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{
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return VecJoint(200.0f);
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}
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static VecJoint getJointAcceleration(void)
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{
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return VecJoint(10.0f);
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}
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static Vec<float, 4> getDhParameter(unsigned int joint)
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{
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// unused parameter
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(void) joint;
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return Vec<float,4>(0.0f);
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}
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struct RobotConfig
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{
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bool elbow;
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bool flip;
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bool j1os;
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};
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static VecJoint backwardCalc(MatCarthesian, struct RobotConfig config );
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static MatCarthesian forwardCalc(VecJoint, struct RobotConfig config );
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};
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#endif
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