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trivkins.c

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/*
  trivkins.c

  Trivial kinematics for 3 axis Cartesian machine

  Modification history:

  13-Mar-2000 WPS added unused attribute to ident to avoid 'defined but not used' compiler warning.
  11-Aug-1999  FMP added kinematicsType()
  9-Aug-1999  FMP added kinematicsHome(), changed naming from invK to kinI
  18-Dec-1997  FMP changed to PmPose
  16-Oct-1997  FMP created
  */

#include "emcmot.h"             /* these decls */

/* ident tag */
#ifndef __GNUC__
#ifndef __attribute__
#define __attribute__(x)
#endif
#endif

static char __attribute__((unused)) ident[] = "$Id: trivkins.c,v 1.4 2000/12/21 16:22:11 wshackle Exp $";

int kinematicsForward(const double * joints,
                      EmcPose * pos,
                      const KINEMATICS_FORWARD_FLAGS * fflags,
                      KINEMATICS_INVERSE_FLAGS * iflags)
{
  pos->tran.x = joints[0];
  pos->tran.y = joints[1];
  pos->tran.z = joints[2];
  pos->a = joints[3];
  pos->b = joints[4];
  pos->c = joints[5];

  return 0;
}

int kinematicsInverse(const EmcPose * pos,
                      double * joints,
                      const KINEMATICS_INVERSE_FLAGS * iflags,
                      KINEMATICS_FORWARD_FLAGS * fflags)
{
  joints[0] = pos->tran.x;
  joints[1] = pos->tran.y;
  joints[2] = pos->tran.z;
  joints[3] = pos->a;
  joints[4] = pos->b;
  joints[5] = pos->c;

  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_IDENTITY;
}

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