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/********************************************************************
* Description: rotatekins.c
* Simple example kinematics for a rotary table in software
*
* Derived from a work by Fred Proctor & Will Shackleford
*
* Author: Chris Radek
* License: GPL Version 2
* System: Linux
*
* Copyright (c) 2006 All rights reserved.
*
********************************************************************/
#include "rtapi_math.h"
#include "kinematics.h" /* these decls */
int kinematicsForward(const double *joints,
EmcPose * pos,
const KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
double c_rad = -joints[5]*M_PI/180;
pos->tran.x = joints[0] * cos(c_rad) - joints[1] * sin(c_rad);
pos->tran.y = joints[0] * sin(c_rad) + joints[1] * cos(c_rad);
pos->tran.z = joints[2];
pos->a = joints[3];
pos->b = joints[4];
pos->c = joints[5];
pos->u = joints[6];
pos->v = joints[7];
pos->w = joints[8];
return 0;
}
int kinematicsInverse(const EmcPose * pos,
double *joints,
const KINEMATICS_INVERSE_FLAGS * iflags,
KINEMATICS_FORWARD_FLAGS * fflags)
{
double c_rad = pos->c*M_PI/180;
joints[0] = pos->tran.x * cos(c_rad) - pos->tran.y * sin(c_rad);
joints[1] = pos->tran.x * sin(c_rad) + pos->tran.y * cos(c_rad);
joints[2] = pos->tran.z;
joints[3] = pos->a;
joints[4] = pos->b;
joints[5] = pos->c;
joints[6] = pos->u;
joints[7] = pos->v;
joints[8] = pos->w;
return 0;
}
/* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
double *joint,
KINEMATICS_FORWARD_FLAGS * fflags,
KINEMATICS_INVERSE_FLAGS * iflags)
{
*fflags = 0;
*iflags = 0;
return kinematicsForward(joint, world, fflags, iflags);
}
KINEMATICS_TYPE kinematicsType()
{
return KINEMATICS_BOTH;
}
#include "rtapi.h" /* RTAPI realtime OS API */
#include "rtapi_app.h" /* RTAPI realtime module decls */
#include "hal.h"
EXPORT_SYMBOL(kinematicsType);
EXPORT_SYMBOL(kinematicsForward);
EXPORT_SYMBOL(kinematicsInverse);
MODULE_LICENSE("GPL");
int comp_id;
int rtapi_app_main(void) {
comp_id = hal_init("rotatekins");
if(comp_id > 0) {
hal_ready(comp_id);
return 0;
}
return comp_id;
}
void rtapi_app_exit(void) { hal_exit(comp_id); }
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