Diff: header/kinematic.h

Revision:

0:fb6e494a7656

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/header/kinematic.h	Wed Apr 20 10:03:58 2016 +0000
@@ -0,0 +1,129 @@
+/********************************************//**
+ * @brief
+ * @file kinematic.h
+ * @author Daniele Ludovico, Fiorella Sibona
+ * @date 12/04/2016
+ * @brief File containing the function to compute the
+ * kinematic function of a robotic arm.
+ *
+ */
+
+#ifndef KINEMATIC_H_INCLUDED
+#define KINEMATIC_H_INCLUDED
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <math.h>
+#include "matrix.h"
+#include "params.h"
+
+
+/********************************************//**
+ * @brief struct DHP
+ * denavit hartenberg parameter
+ ***********************************************/
+typedef struct s_DHP{
+float d;
+float theta;
+float a;
+float alpha;
+} DHP;
+
+
+/********************************************//**
+ * \brief this function allows to update
+ * the current dh parameter with the
+ * actual joints angle
+ *
+ * \param pointer to the DH parameter to
+ * update
+ * \param pointer to the new joint angle,
+ * value which update the DHP
+ *
+ * \return void
+ *
+ ***********************************************/
+
+void DHP_update(DHP* dhp, matrix* joints);
+
+/********************************************//**
+ * \brief this function allows to compute
+ * the homogeneouse trasformation matrix
+ * starting from DH parameters
+ *
+ * \param pointer to the actual DH parameter
+ * \param pointer to the trasformation matrix
+ * to compute
+ *
+ * \return void
+ *
+ ***********************************************/
+
+void DH_Transf(DHP* dhp, matrix* T);
+
+/********************************************//**
+ * \brief Function which performs the direct
+ * position kinematic function. Given the
+ * joints values the TCP pose is computed
+ *
+ * \param pointer to the structure containing
+ * the actual joints values
+ * \param pointer to the pose structure where
+ * the result will be stored
+ *
+ * \return void
+ ************************************************/
+
+void DPKF (matrix* joint, matrix* p);
+
+/********************************************//**
+ * \brief Function which returns the
+ * geometric Jacobian given the joints values
+ *
+ * \param pointer to the structure containing
+ * the joints values
+ * \param Jg is the address where the
+ * geometric Jacobian will be stored
+ * \param T_TCP is the matrix in which the
+ * homogeneous transformation from 0 to TCP
+ * is stored once computed
+ *
+ * \return void
+ ***********************************************/
+void JacobianG(matrix* joint, matrix* Jg, matrix* T_TCP);
+
+/********************************************//**
+ * \brief Function which returns the Analytical Jacobian given the joints values
+ *
+ * \param joint is the address to the structure containing the joints values
+ * \param Ja is the address where the Analytical Jacobian will be stored
+ *
+ * \return void
+ *
+ ***********************************************/
+void JacobianA(matrix* joint, matrix * Ja);
+
+/********************************************//**
+ * \brief Computes the inverse kinematics (returns the joints values for a desired pose).
+ *
+ * \param p is the pointer to the desired pose
+ * \param joint is where the result will be saved
+ *
+ * \return 0 if the inverse kinematics is computed 
+ * correctly
+ * \return 1 if the point to reach is not in the 
+ * task space
+ ***********************************************/
+int IPKF (matrix* p, matrix* joint);
+
+void Print_DHP(DHP* dhp);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // KINEMATIC_H_INCLUDED
+
+