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/********************************************************************
* Description: genhexkins.h
* Kinematics for a generalised hexapod machine
*
* Derived from a work by R. Brian Register
*
* Author:
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2004 All rights reserved.
*
* Last change:
*******************************************************************
This is the header file to accompany genhexkins.c. This header file is used
to configure genhexkins.c to solve the kinematics for a particular Stewart
Platform configuration.
Defined are the parameters necessary to configure the functions to solve
several different Stewart Platform configurations. To choose a particular
configuration #define the configuration you are interested in and
comment out any others.
*/
#include "posemath.h" /* PmCartesian */
/* genhexSetParams lets you set the Cartesian coords of the base and platform,
overriding the defaults set in the subsequent #defines */
extern int genhexSetParams(const PmCartesian base[], const PmCartesian platform[]);
extern int genhexGetParams(PmCartesian base[], PmCartesian platform[]);
extern int genhexKinematicsForwardIterations(void);
#define MINI_TETRA
#define NUM_STRUTS 6
#ifdef INGERSOLL_HEXAPOD
/* Define position of base strut ends in base (world) coordinates for */
/* Ingersoll Hexapod */
#define BASE_0_X 1.7580
#define BASE_1_X 1.6021
#define BASE_2_X -1.7580
#define BASE_3_X -1.6021
#define BASE_4_X 0.0
#define BASE_5_X 0.0
#define BASE_0_Y 2.8
#define BASE_1_Y 3.07
#define BASE_2_Y 2.8
#define BASE_3_Y 3.07
#define BASE_4_Y 2.8
#define BASE_5_Y 3.07
#define BASE_0_Z -1.015
#define BASE_1_Z -0.925
#define BASE_2_Z -1.015
#define BASE_3_Z -0.925
#define BASE_4_Z 2.03
#define BASE_5_Z 1.85
/* Define position of platform strut end in platform coordinate system */
/* for Ingersoll Hexapod */
#define PLATFORM_0_X 0.225
#define PLATFORM_1_X 0.1125
#define PLATFORM_2_X -0.1125
#define PLATFORM_3_X -0.225
#define PLATFORM_4_X -0.1125
#define PLATFORM_5_X 0.1125
#define PLATFORM_0_Y 0.0
#define PLATFORM_1_Y 0.1949
#define PLATFORM_2_Y 0.1949
#define PLATFORM_3_Y 0.0
#define PLATFORM_4_Y -0.1949
#define PLATFORM_5_Y -0.1949
#define PLATFORM_0_Z -0.228
#define PLATFORM_1_Z -0.228
#define PLATFORM_2_Z -0.228
#define PLATFORM_3_Z -0.228
#define PLATFORM_4_Z -0.228
#define PLATFORM_5_Z -0.228
#endif
#ifdef UF_HEXAPOD
/* Define position of base strut ends in base (world) coordinates for */
/* UF Hexapod */
#define BASE_0_X -16.00
#define BASE_1_X -10.00
#define BASE_2_X 16.00
#define BASE_3_X 13.00
#define BASE_4_X 0.00
#define BASE_5_X -3.00
#define BASE_0_Y -9.24
#define BASE_1_Y -9.24
#define BASE_2_Y -9.24
#define BASE_3_Y -4.04
#define BASE_4_Y 18.48
#define BASE_5_Y 13.28
#define BASE_0_Z 18.00
#define BASE_1_Z 18.00
#define BASE_2_Z 18.00
#define BASE_3_Z 18.00
#define BASE_4_Z 18.00
#define BASE_5_Z 18.00
/* Define position of platform strut end in platform coordinate system */
/* for UF Hexapod */
#define PLATFORM_0_X -9.00
#define PLATFORM_1_X 0.00
#define PLATFORM_2_X 3.00
#define PLATFORM_3_X 12.00
#define PLATFORM_4_X 6.00
#define PLATFORM_5_X -12.00
#define PLATFORM_0_Y 1.73
#define PLATFORM_1_Y -13.86
#define PLATFORM_2_Y -8.66
#define PLATFORM_3_Y 6.93
#define PLATFORM_4_Y 6.93
#define PLATFORM_5_Y 6.93
#define PLATFORM_0_Z 0.00
#define PLATFORM_1_Z 0.00
#define PLATFORM_2_Z 0.00
#define PLATFORM_3_Z 0.00
#define PLATFORM_4_Z 0.00
#define PLATFORM_5_Z 0.00
#endif
#ifdef MINI_TETRA
/* Define position of base strut ends in base (world) coordinates for */
/* mini tetra */
#define BASE_0_X -22.950
#define BASE_0_Y 13.250
#define BASE_1_X 22.950
#define BASE_1_Y 13.250
#define BASE_2_X 22.950
#define BASE_2_Y 13.250
#define BASE_3_X 0
#define BASE_3_Y -26.5
#define BASE_4_X 0
#define BASE_4_Y -26.5
#define BASE_5_X -22.950
#define BASE_5_Y 13.250
#define BASE_0_Z 0
#define BASE_1_Z 0
#define BASE_2_Z 0
#define BASE_3_Z 0
#define BASE_4_Z 0
#define BASE_5_Z 0
/* Define position of platform strut end in platform coordinate system */
/* for mini tetra */
#define PLATFORM_0_X -1
#define PLATFORM_0_Y 11.5
#define PLATFORM_1_X 1
#define PLATFORM_1_Y 11.5
#define PLATFORM_2_X 10.459
#define PLATFORM_2_Y -4.884
#define PLATFORM_3_X 9.459
#define PLATFORM_3_Y -6.616
#define PLATFORM_4_X -9.459
#define PLATFORM_4_Y -6.616
#define PLATFORM_5_X -10.459
#define PLATFORM_5_Y -4.884
#define PLATFORM_0_Z 0
#define PLATFORM_1_Z 0
#define PLATFORM_2_Z 0
#define PLATFORM_3_Z 0
#define PLATFORM_4_Z 0
#define PLATFORM_5_Z 0
#endif
#ifdef OCTA_TETRA
/* Define position of base strut ends in base (world) coordinates for
minitetra with octahedral outside frame. Let A be side length of
base triangle. Here A = 39 inches. */
#define BASE_0_X -19.5 /* -A/2 */
#define BASE_0_Y 11.258 /* A cos 30 * 1/3 */
#define BASE_1_X 19.5 /* A/2 */
#define BASE_1_Y 11.258 /* A cos 30 * 1/3 */
#define BASE_2_X 19.5 /* same as BASE_1_X */
#define BASE_2_Y 11.258 /* same as BASE_1_Y */
#define BASE_3_X 0 /* 0 */
#define BASE_3_Y -22.517 /* -A cos 30 * 2/3 */
#define BASE_4_X 0 /* same as BASE_3_X */
#define BASE_4_Y -22.517 /* same as BASE_3_Y */
#define BASE_5_X -19.5 /* same as BASE_0_X */
#define BASE_5_Y 11.258 /* same as BASE_0_Y */
#define BASE_0_Z 0 /* all 0 */
#define BASE_1_Z 0
#define BASE_2_Z 0
#define BASE_3_Z 0
#define BASE_4_Z 0
#define BASE_5_Z 0
/* Define position of platform strut end in platform coordinate system
for minitetra with octahedral outside frame */
#define PLATFORM_0_X -1
#define PLATFORM_0_Y 11.5
#define PLATFORM_1_X 1
#define PLATFORM_1_Y 11.5
#define PLATFORM_2_X 10.459
#define PLATFORM_2_Y -4.884
#define PLATFORM_3_X 9.459
#define PLATFORM_3_Y -6.616
#define PLATFORM_4_X -9.459
#define PLATFORM_4_Y -6.616
#define PLATFORM_5_X -10.459
#define PLATFORM_5_Y -4.884
#define PLATFORM_0_Z 0
#define PLATFORM_1_Z 0
#define PLATFORM_2_Z 0
#define PLATFORM_3_Z 0
#define PLATFORM_4_Z 0
#define PLATFORM_5_Z 0
#endif
#ifdef GEN_TETRA
/*
GEN_TETRA uses 4 parameters for the side and corner lengths of the
base and platform. Set these and recompile, and you don't have to
figure out all the vertex coordinates yourself.
*/
#define BASE_LENGTH 40.0
#define BASE_CORNER 1.75
#define PLATFORM_LENGTH 18.9
#define PLATFORM_CORNER 0.5
#define Q 0.2886751346 /* 1/3 cos 30 */
#define BASE_0_X (0.5 * BASE_CORNER)
#define BASE_0_Y (Q * (2.0 * BASE_LENGTH + BASE_CORNER))
#define BASE_1_X (0.5 * (BASE_LENGTH + BASE_CORNER))
#define BASE_1_Y (Q * (BASE_CORNER - BASE_LENGTH))
#define BASE_2_X (0.5 * BASE_LENGTH)
#define BASE_2_Y (-Q * (BASE_LENGTH + 2.0 * BASE_CORNER))
#define BASE_3_X -BASE_2_X
#define BASE_3_Y BASE_2_Y
#define BASE_4_X -BASE_1_X
#define BASE_4_Y BASE_1_Y
#define BASE_5_X -BASE_0_X
#define BASE_5_Y BASE_0_Y
#define BASE_0_Z 0 /* all 0 */
#define BASE_1_Z 0
#define BASE_2_Z 0
#define BASE_3_Z 0
#define BASE_4_Z 0
#define BASE_5_Z 0
/* Define position of platform strut end in platform coordinate system
for minitetra with octahedral outside frame */
#define PLATFORM_0_X (0.5 * PLATFORM_LENGTH)
#define PLATFORM_0_Y (Q * (PLATFORM_LENGTH + 2.0 * PLATFORM_CORNER))
#define PLATFORM_1_X (0.5 * (PLATFORM_LENGTH + PLATFORM_CORNER))
#define PLATFORM_1_Y (Q * (PLATFORM_LENGTH - PLATFORM_CORNER))
#define PLATFORM_2_X (0.5 * PLATFORM_CORNER)
#define PLATFORM_2_Y (-Q * (2.0 * PLATFORM_LENGTH + PLATFORM_CORNER))
#define PLATFORM_3_X -PLATFORM_2_X
#define PLATFORM_3_Y PLATFORM_2_Y
#define PLATFORM_4_X -PLATFORM_1_X
#define PLATFORM_4_Y PLATFORM_1_Y
#define PLATFORM_5_X -PLATFORM_0_X
#define PLATFORM_5_Y PLATFORM_0_Y
#define PLATFORM_0_Z 0
#define PLATFORM_1_Z 0
#define PLATFORM_2_Z 0
#define PLATFORM_3_Z 0
#define PLATFORM_4_Z 0
#define PLATFORM_5_Z 0
#endif
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