puma560kins.h Source File

00001 #ifndef PUMA560_H
00002 #define PUMA560_H
00003 
00004 /*
00005   parameters for PUMA 560 robot
00006 
00007   Modification history:
00008 
00009   13-Aug-1999  FMP added defaults here, instead of .c file; added
00010   PUMA560_REACH
00011 */
00012 
00013 /* link params, globals which can be tweaked */
00014 extern double PUMA560_A2;
00015 extern double PUMA560_A3;
00016 extern double PUMA560_D3;
00017 extern double PUMA560_D4;
00018 
00019 /* their default values */
00020 #define DEFAULT_PUMA560_A2 300.0
00021 #define DEFAULT_PUMA560_A3  50.0
00022 #define DEFAULT_PUMA560_D3  70.0
00023 #define DEFAULT_PUMA560_D4 400.0
00024 
00025 #define SINGULAR_FUZZ 0.000001
00026 #define FLAG_FUZZ     0.000001
00027 
00028 /* flags for inverse kinematics */
00029 #define PUMA560_SHOULDER_RIGHT 0x01
00030 #define PUMA560_ELBOW_DOWN     0x02
00031 #define PUMA560_WRIST_FLIP     0x04
00032 #define PUMA560_SINGULAR       0x08  /* joints at a singularity */
00033 
00034 /* flags for forward kinematics */
00035 #define PUMA560_REACH          0x01  /* pose out of reach */
00036 
00037 #endif /* PUMA560_H */