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trivkins.c File Reference

#include "emcmot.h"

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Functions

char __attribute__ ((unused)) ident[]="$Id

int kinematicsInverse (const EmcPose *pos, double *joints, const KINEMATICS_INVERSE_FLAGS *iflags, KINEMATICS_FORWARD_FLAGS *fflags)

int kinematicsHome (EmcPose *world, double *joint, KINEMATICS_FORWARD_FLAGS *fflags, KINEMATICS_INVERSE_FLAGS *iflags)

KINEMATICS_TYPE kinematicsType ()

Function Documentation

char __attribute__ ( (unused) ) [static]

Definition at line 24 of file trivkins.c.
00024 : trivkins.c,v 1.4 2000/12/21 16:22:11 wshackle Exp $"; 00025 00026 int kinematicsForward(const double * joints, 00027 EmcPose * pos, 00028 const KINEMATICS_FORWARD_FLAGS * fflags, 00029 KINEMATICS_INVERSE_FLAGS * iflags) 00030 { 00031 pos->tran.x = joints[0]; 00032 pos->tran.y = joints[1]; 00033 pos->tran.z = joints[2]; 00034 pos->a = joints[3]; 00035 pos->b = joints[4]; 00036 pos->c = joints[5]; 00037 00038 return 0; 00039 }

int kinematicsHome ( EmcPose * world,

double * joint,

KINEMATICS_FORWARD_FLAGS * fflags,

KINEMATICS_INVERSE_FLAGS * iflags

)

Definition at line 57 of file trivkins.c.
Referenced by emcmotController().

00061 { 00062 *fflags = 0; 00063 *iflags = 0; 00064 00065 return kinematicsForward(joint, world, fflags, iflags); 00066 }

int kinematicsInverse ( const EmcPose * pos,

double * joints,

const KINEMATICS_INVERSE_FLAGS * iflags,

KINEMATICS_FORWARD_FLAGS * fflags

)

Definition at line 41 of file trivkins.c.
Referenced by emcmotController(), inRange(), and kinematicsHome().

00045 { 00046 joints[0] = pos->tran.x; 00047 joints[1] = pos->tran.y; 00048 joints[2] = pos->tran.z; 00049 joints[3] = pos->a; 00050 joints[4] = pos->b; 00051 joints[5] = pos->c; 00052 00053 return 0; 00054 }

KINEMATICS_TYPE kinematicsType ( void )

Definition at line 68 of file trivkins.c.
00069 { 00070 return KINEMATICS_IDENTITY; 00071 }

Generated on Sun Dec 2 15:28:34 2001 for EMC by

Functions
char	__attribute__ ((unused)) ident[]="$Id
int	kinematicsInverse (const EmcPose pos, double joints, const KINEMATICS_INVERSE_FLAGS iflags, KINEMATICS_FORWARD_FLAGS fflags)
int	kinematicsHome (EmcPose world, double joint, KINEMATICS_FORWARD_FLAGS fflags, KINEMATICS_INVERSE_FLAGS iflags)
KINEMATICS_TYPE	kinematicsType ()