Diff: ArthropodIK.h

Revision:

0:9805c9d36254

Child:

1:031a0c78d8d6

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ArthropodIK.h	Thu Jun 25 07:08:02 2015 +0000
@@ -0,0 +1,111 @@
+#ifndef ARTHROPODIK_H
+#define ARTHROPODIK_H
+
+
+#define NUM_LEGS  4
+#define COXA_L 30.0 //mm
+#define FEMUR_L 70.0
+#define TIBIA_L 100.0         // NEED TO ACTUALLY MEASURE. 
+#define HIP_DISP_ORTHO 50.0     // Orthogonal distance from center of robot to hip vertical joint. 
+
+
+//MASSIVE CREDITS to http://blog.oscarliang.net/inverse-kinematics-and-trigonometry-basics/: Oscar Liang
+
+// Probably a few typdef structs?
+
+
+
+typedef struct leg_angles {     // ALL OF THIS IS IN RADIANS. ALL ANGLES IN THIS LIBRARY ARE IN RADIANS. 
+    float gamma;            // CCW *displacement* angle of the hip from above
+    float beta;             // Included angle of the knee. Is pi/2 when knee is bent at a right angle (this is the resting position.)
+    float alpha;            // Angle of the hip above vertical axis. Is pi/2 when leg is sticking out straight (i.e. the resting position). 
+} leg_angles_t; 
+
+typedef struct sixDOF {
+    float xyz[3]; 
+    float ypr[3]; // that's yaw, pitch, and roll.
+} sixDOF_t; 
+
+float sq(float n1);
+
+/* this library assumes that all legs will be identical in lengths. */
+///////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+/////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+
+
+class ArthropodSolver {
+    
+public: 
+
+    static const float LEG_ANGLES[4];
+
+    //int numLegs;
+    
+    
+    
+    /**
+     *         Instantiate a new Arthropod Solver, entering the leg parameters
+     */
+    
+    ArthropodSolver();    // constructor. 
+        
+
+    
+ 
+    
+    
+    /** 
+     *  Determine the joint angles for a leg with the toe at a specified position
+     *
+     * @Returns a leg angle struct in float degrees. 
+     */
+    
+    //leg_angles_t SolveLeg(float LegTargetXYZ[], int LegNum); 
+    
+    leg_angles_t SolveLeg(float LegTargetXYZ[], int LegNum);
+    
+    
+    
+    
+    
+    /**
+     *  Deterimine the joint angles to shift the body to a different position, keeping the legs planted. 
+     */
+    
+    //leg_angles_t * SolveBody(sixDOF_t BodyTarget6D[], leg_angles_t LegPriorPos[]); 
+    
+    float * SolveBody(sixDOF_t BodyTarget6D[], float LegPriorPos[], int LegNum);
+    
+    
+    
+    
+    
+    
+    
+    
+    /**
+     * Determine the position of a foot, given the leg angles. 
+     */
+     
+     float * SolveLegFwd(leg_angles_t LegAngles, int LegNum);
+     
+     void  YawXform(float invec[], float outvec[], float angle);
+     
+     void  PitchXform(float invec[], float outvec[], float angle);
+     
+     void  RollXform(float invec[], float outvec[], float angle);
+    
+    
+    
+    
+    
+    
+};
+
+
+
+//const float ArthropodSolver::LEG_ANGLES[4] = {0.78539816339, 2.35619449019, -2.35619449019, -0.78539816339, }; /// moved to cpp file. 
+
+
+
+#endif
\ No newline at end of file