| // SPDX-License-Identifier: LGPL-2.1-or-later | |
| /*************************************************************************** | |
| * Copyright (c) 2002 Jürgen Riegel <juergen.riegel@web.de> * | |
| * * | |
| * This file is part of the FreeCAD CAx development system. * | |
| * * | |
| * This library is free software; you can redistribute it and/or * | |
| * modify it under the terms of the GNU Library General Public * | |
| * License as published by the Free Software Foundation; either * | |
| * version 2 of the License, or (at your option) any later version. * | |
| * * | |
| * This library is distributed in the hope that it will be useful, * | |
| * but WITHOUT ANY WARRANTY; without even the implied warranty of * | |
| * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * | |
| * GNU Library General Public License for more details. * | |
| * * | |
| * You should have received a copy of the GNU Library General Public * | |
| * License along with this library; see the file COPYING.LIB. If not, * | |
| * write to the Free Software Foundation, Inc., 59 Temple Place, * | |
| * Suite 330, Boston, MA 02111-1307, USA * | |
| * * | |
| ***************************************************************************/ | |
| namespace Robot | |
| { | |
| /// Definition of the Axis properties | |
| struct AxisDefinition | |
| { | |
| double a = 0.0; // a of the Denavit-Hartenberg parameters (mm) | |
| double alpha = 0.0; // alpha of the Denavit-Hartenberg parameters (°) | |
| double d = 0.0; // d of the Denavit-Hartenberg parameters (mm) | |
| double theta = 0.0; // a of the Denavit-Hartenberg parameters (°) | |
| double rotDir = 0.0; // rotational direction (1|-1) | |
| double maxAngle = 0.0; // soft ends + in ° | |
| double minAngle = 0.0; // soft ends - in ° | |
| double velocity = 0.0; // max vlocity of the axle in °/s | |
| }; | |
| /** The representation for a 6-Axis industry grade robot | |
| */ | |
| class RobotExport Robot6Axis: public Base::Persistence | |
| { | |
| TYPESYSTEM_HEADER_WITH_OVERRIDE(); | |
| public: | |
| Robot6Axis(); | |
| // from base class | |
| unsigned int getMemSize() const override; | |
| void Save(Base::Writer& /*writer*/) const override; | |
| void Restore(Base::XMLReader& /*reader*/) override; | |
| // interface | |
| /// set the kinematic parameters of the robot | |
| void setKinematic(const AxisDefinition KinDef[6]); | |
| /// read the kinematic parameters of the robot from a file | |
| void readKinematic(const char* FileName); | |
| /// set the robot to that position, calculates the Axis | |
| bool setTo(const Base::Placement& To); | |
| bool setAxis(int Axis, double Value); | |
| double getAxis(int Axis); | |
| double getMaxAngle(int Axis); | |
| double getMinAngle(int Axis); | |
| /// calculate the new Tcp out of the Axis | |
| bool calcTcp(); | |
| Base::Placement getTcp(); | |
| // void setKinematik(const std::vector<std::vector<float> > &KinTable); | |
| protected: | |
| KDL::Chain Kinematic; | |
| KDL::JntArray Actual; | |
| KDL::JntArray Min; | |
| KDL::JntArray Max; | |
| KDL::Frame Tcp; | |
| double Velocity[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; | |
| double RotDir[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0}; | |
| }; | |
| } // namespace Robot | |