BE@R lab / InverseLeg

InverseLeg

Dependents:   SwitchMode Stabilizer SwitchMode

Kinematic.h@6:444a33819962, 2016-01-23 (annotated)

Committer:
soulx
Date:
Sat Jan 23 03:42:13 2016 +0000
Revision:
6:444a33819962
Parent:
5:a2a5ebd65f46 
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Who changed what in which revision?

UserRevisionLine numberNew contents of line
soulx 6:444a33819962 1 #ifndef _KINEMATIC_H_
soulx 6:444a33819962 2 #define _KINEMATIC_H_
soulx 4:d3bb9ead2a55 3
icyzkungz 2:c9c38629be85 4 #include "mbed.h"
soulx 4:d3bb9ead2a55 5
icyzkungz 2:c9c38629be85 6 class Kinematic
icyzkungz 1:d5cf0907f83d 7 {
icyzkungz 1:d5cf0907f83d 8 private:
icyzkungz 1:d5cf0907f83d 9 float Link_Hip; //centimeter
icyzkungz 1:d5cf0907f83d 10 float Link_Knee; //centimeter
icyzkungz 1:d5cf0907f83d 11 float Zeta_Hip; //degree
icyzkungz 1:d5cf0907f83d 12 float Zeta_Knee; //degree
icyzkungz 1:d5cf0907f83d 13 float Position_Y; //centimeter
icyzkungz 1:d5cf0907f83d 14 float Position_Z; //centimeter
soulx 4:d3bb9ead2a55 15
soulx 4:d3bb9ead2a55 16 //float offset_y;
soulx 4:d3bb9ead2a55 17 //float offset_z;
soulx 4:d3bb9ead2a55 18
icyzkungz 3:fd037c89ba5f 19 float zeta_knee_range_max;
icyzkungz 3:fd037c89ba5f 20 float zeta_knee_range_min;
icyzkungz 3:fd037c89ba5f 21 float zeta_hip_range_max;
icyzkungz 3:fd037c89ba5f 22 float zeta_hip_range_min;
soulx 4:d3bb9ead2a55 23
soulx 4:d3bb9ead2a55 24
icyzkungz 1:d5cf0907f83d 25 public:
soulx 4:d3bb9ead2a55 26 Serial test;
icyzkungz 2:c9c38629be85 27 Kinematic(float, float);
icyzkungz 2:c9c38629be85 28 Kinematic(char, float, float, float, float);
soulx 6:444a33819962 29
icyzkungz 1:d5cf0907f83d 30 float get_Link_Hip() {
icyzkungz 1:d5cf0907f83d 31 return Link_Hip;
icyzkungz 1:d5cf0907f83d 32 }
icyzkungz 1:d5cf0907f83d 33 float get_Link_Knee() {
icyzkungz 1:d5cf0907f83d 34 return Link_Knee;
icyzkungz 1:d5cf0907f83d 35 }
icyzkungz 1:d5cf0907f83d 36 float get_Zeta_Hip() {
icyzkungz 1:d5cf0907f83d 37 return Zeta_Hip;
icyzkungz 1:d5cf0907f83d 38 }
icyzkungz 1:d5cf0907f83d 39 float get_Zeta_Knee() {
icyzkungz 1:d5cf0907f83d 40 return Zeta_Knee;
icyzkungz 1:d5cf0907f83d 41 }
icyzkungz 1:d5cf0907f83d 42 float get_Position_Y() {
icyzkungz 1:d5cf0907f83d 43 return Position_Y;
icyzkungz 1:d5cf0907f83d 44 }
icyzkungz 1:d5cf0907f83d 45 float get_Position_Z() {
icyzkungz 1:d5cf0907f83d 46 return Position_Z;
icyzkungz 1:d5cf0907f83d 47 }
soulx 4:d3bb9ead2a55 48 /*
icyzkungz 3:fd037c89ba5f 49 float get_offset_y() {
icyzkungz 3:fd037c89ba5f 50 return offset_y;
icyzkungz 3:fd037c89ba5f 51 }
icyzkungz 3:fd037c89ba5f 52 float get_offset_z() {
icyzkungz 3:fd037c89ba5f 53 return offset_z;
icyzkungz 3:fd037c89ba5f 54 }
soulx 4:d3bb9ead2a55 55 */
icyzkungz 1:d5cf0907f83d 56 void set_Link_Hip(float);
icyzkungz 1:d5cf0907f83d 57 void set_Link_Knee(float);
icyzkungz 1:d5cf0907f83d 58 void set_Zeta_Hip(float);
icyzkungz 1:d5cf0907f83d 59 void set_Zeta_Knee(float);
icyzkungz 1:d5cf0907f83d 60 void set_Position_Y(float);
icyzkungz 1:d5cf0907f83d 61 void set_Position_Z(float);
soulx 4:d3bb9ead2a55 62 void set_zeta_knee_range(float max,float min);
soulx 4:d3bb9ead2a55 63 void set_zeta_hip_range(float max,float min);
soulx 4:d3bb9ead2a55 64
soulx 4:d3bb9ead2a55 65 //void set_offset_YZ(float,float);
soulx 4:d3bb9ead2a55 66 //void SumPositionWithOffset();
icyzkungz 1:d5cf0907f83d 67
icyzkungz 2:c9c38629be85 68 void ForwardKinematicCalculation();
icyzkungz 1:d5cf0907f83d 69 void InverseKinematicCalculation();
icyzkungz 3:fd037c89ba5f 70
soulx 5:a2a5ebd65f46 71 void show_z();
soulx 4:d3bb9ead2a55 72 };
soulx 4:d3bb9ead2a55 73
soulx 4:d3bb9ead2a55 74 #endif