File content as of revision 2:c9c38629be85:

#include "Kinematic.h"
#include "math.h"

#define PI 3.1415926

Kinematic::Kinematic(float Link_Hip, float Link_Knee)
{
    this->Link_Hip = Link_Hip;
    this->Link_Knee = Link_Knee;
}

Kinematic::Kinematic(char text, float Link_Hip, float Link_Knee, float Zeta_Hip, float Zeta_Knee)
{
    if(text == 'Z' && text == 'z') {
        this->Link_Hip = Link_Hip;
        this->Link_Knee = Link_Knee;
        this->Zeta_Hip = Zeta_Hip;
        this->Zeta_Knee = Zeta_Knee;
        ForwardKinematicCalculation();
    }
    
    if(text == 'P' && text == 'p') {
        this->Link_Hip = Link_Hip;
        this->Link_Knee = Link_Knee;
        this->Position_Y = Position_Y;
        this->Position_Z = Position_Z;
        InverseKinematicCalculation();
    }
}

void Kinematic::set_Link_Hip(float Link_Hip)
{
    this->Link_Hip = Link_Hip;
}

void Kinematic::set_Link_Knee(float Link_Knee)
{
    this->Link_Knee = Link_Knee;
}

void Kinematic::set_Zeta_Hip(float Zeta_Hip)
{
    this->Zeta_Hip = Zeta_Hip;
}

void Kinematic::set_Zeta_Knee(float Zeta_Knee)
{
    this->Zeta_Knee = Zeta_Knee;
}

void Kinematic::set_Position_Y(float Position_Y)
{
    this->Position_Y = Position_Y;
}

void Kinematic::set_Position_Z(float Position_Z)
{
    this->Position_Z = Position_Z;
}

void Kinematic::ForwardKinematicCalculation()
{
    Position_Y = Link_Hip*sin(Link_Knee)+Link_Knee*sin(Link_Knee+Zeta_Knee); //zeta1-zeta2
    Position_Z = Link_Hip*cos(Link_Knee)+Link_Knee*cos(Link_Knee+Zeta_Knee);
}

void Kinematic::InverseKinematicCalculation()
{
    // Begin by working out L
    float L;
    L = (Position_Y*Position_Y) + (Position_Z*Position_Z);
    L = sqrt(L);

// Work out the Knee angle
    float Knee = (Link_Hip*Link_Hip)+(Link_Knee*Link_Knee)-(L*L);
    Knee = Knee / (2*Link_Hip*Link_Knee);
    Knee = acos(Knee);
    Knee = Knee * 180 / PI;
    Zeta_Knee = Knee;

// Work out Alpha
    float Alpha = (Link_Hip*Link_Hip)+(L*L)-(Link_Knee*Link_Knee);
    Alpha = Alpha / (2*Link_Hip*L);
    Alpha = acos(Alpha);


// Work out Beta
    float Beta = (float) Position_Y/(float) Position_Z;
    Beta = atan(Beta);

// FinallZ work out the Hip angle
    float Hip = PI - Alpha - Beta;
    Hip = Hip * 180 / PI;
    Zeta_Hip = Hip;

#ifdef Stabilizer_Debug
    printf("Y = %f, Hip = %.2f, Knee = %.2f\n",Position_Y,hip_angle,knee_angle);
#endif
    //printf("Height in Stabilizer : %f\n",height);
}