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[Robot] fix typo reported by spellchecker CI

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- Accelaration -> Acceleration

- plus some style fixes done by MSVC
This commit is contained in:
Uwe
2022-02-21 14:19:53 +01:00
committed by wwmayer
parent 4adabe3de8
commit 181fc65d01
11 changed files with 328 additions and 329 deletions
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46
src/Mod/Robot/App/Trajectory.cpp
View File

@@ -148,7 +148,7 @@ void Trajectory::deleteLast(unsigned int n)
void Trajectory::generateTrajectory(void) void Trajectory::generateTrajectory(void)
{ {
if (vpcWaypoints.size()==0) if (vpcWaypoints.size() == 0)
return; return;
// delete the old and create a new one // delete the old and create a new one
@@ -164,60 +164,60 @@ void Trajectory::generateTrajectory(void)
try { try {
// handle the first waypoint special // handle the first waypoint special
bool first=true; bool first = true;
for (std::vector<Waypoint*>::const_iterator it = vpcWaypoints.begin();it!=vpcWaypoints.end();++it) { for (std::vector<Waypoint*>::const_iterator it = vpcWaypoints.begin(); it != vpcWaypoints.end(); ++it) {
if (first) { if (first) {
Last = toFrame((*it)->EndPos); Last = toFrame((*it)->EndPos);
first = false; first = false;
} }
else { else {
// destinct the type of movement // destinct the type of movement
switch((*it)->Type){ switch ((*it)->Type) {
case Waypoint::LINE: case Waypoint::LINE:
case Waypoint::PTP:{ case Waypoint::PTP: {
KDL::Frame Next = toFrame((*it)->EndPos); KDL::Frame Next = toFrame((*it)->EndPos);
// continues the movement until no continuous waypoint or the end // continues the movement until no continuous waypoint or the end
bool Cont = (*it)->Cont && !(it==--vpcWaypoints.end()); bool Cont = (*it)->Cont && !(it == --vpcWaypoints.end());
// start of a continue block // start of a continue block
if (Cont && !pcRoundComp) { if (Cont && !pcRoundComp) {
pcRoundComp.reset(new KDL::Path_RoundedComposite(3, 3, pcRoundComp.reset(new KDL::Path_RoundedComposite(3, 3,
new KDL::RotationalInterpolation_SingleAxis())); new KDL::RotationalInterpolation_SingleAxis()));
// the velocity of the first waypoint is used // the velocity of the first waypoint is used
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration)); pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity, (*it)->Acceleration));
pcRoundComp->Add(Last); pcRoundComp->Add(Last);
pcRoundComp->Add(Next); pcRoundComp->Add(Next);
// continue a continues block // continue a continues block
} }
else if (Cont && pcRoundComp) { else if (Cont && pcRoundComp) {
pcRoundComp->Add(Next); pcRoundComp->Add(Next);
// end a continuous block // end a continuous block
} }
else if (Cont==false && pcRoundComp) { else if (Cont == false && pcRoundComp) {
// add the last one // add the last one
pcRoundComp->Add(Next); pcRoundComp->Add(Next);
pcRoundComp->Finish(); pcRoundComp->Finish();
pcVelPrf->SetProfile(0,pcRoundComp->PathLength()); pcVelPrf->SetProfile(0, pcRoundComp->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcRoundComp.release(),pcVelPrf.release())); pcTrak.reset(new KDL::Trajectory_Segment(pcRoundComp.release(), pcVelPrf.release()));
// normal block // normal block
} }
else if (Cont==false && !pcRoundComp){ else if (Cont == false && !pcRoundComp) {
KDL::Path* pcPath; KDL::Path* pcPath;
pcPath = new KDL::Path_Line(Last, pcPath = new KDL::Path_Line(Last,
Next, Next,
new KDL::RotationalInterpolation_SingleAxis(), new KDL::RotationalInterpolation_SingleAxis(),
1.0, 1.0,
true true
); );
pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity,(*it)->Accelaration)); pcVelPrf.reset(new KDL::VelocityProfile_Trap((*it)->Velocity, (*it)->Acceleration));
pcVelPrf->SetProfile(0,pcPath->PathLength()); pcVelPrf->SetProfile(0, pcPath->PathLength());
pcTrak.reset(new KDL::Trajectory_Segment(pcPath,pcVelPrf.release())); pcTrak.reset(new KDL::Trajectory_Segment(pcPath, pcVelPrf.release()));
} }
Last = Next; Last = Next;
break;} break; }
case Waypoint::WAIT: case Waypoint::WAIT:
break; break;
default: default:
@@ -230,7 +230,7 @@ void Trajectory::generateTrajectory(void)
} }
} }
} }
catch (KDL::Error &e) { catch (KDL::Error& e) {
throw Base::RuntimeError(e.Description()); throw Base::RuntimeError(e.Description());
} }
} }

55
src/Mod/Robot/App/TrajectoryDressUpObject.cpp
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@@ -69,7 +69,7 @@ TrajectoryDressUpObject::~TrajectoryDressUpObject()
{ {
} }
App::DocumentObjectExecReturn *TrajectoryDressUpObject::execute(void) App::DocumentObjectExecReturn* TrajectoryDressUpObject::execute(void)
{ {
Robot::Trajectory result; Robot::Trajectory result;
@@ -79,39 +79,39 @@ App::DocumentObjectExecReturn *TrajectoryDressUpObject::execute(void)
if (!link->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId())) if (!link->getTypeId().isDerivedFrom(Robot::TrajectoryObject::getClassTypeId()))
return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object"); return new App::DocumentObjectExecReturn("Linked object is not a Trajectory object");
const std::vector<Waypoint*> &wps = static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints(); const std::vector<Waypoint*>& wps = static_cast<Robot::TrajectoryObject*>(link)->Trajectory.getValue().getWaypoints();
for (std::vector<Waypoint*>::const_iterator it= wps.begin();it!=wps.end();++it) { for (std::vector<Waypoint*>::const_iterator it = wps.begin(); it != wps.end(); ++it) {
Waypoint wpt = **it; Waypoint wpt = **it;
if(UseSpeed.getValue()) if (UseSpeed.getValue())
wpt.Velocity = Speed.getValue(); wpt.Velocity = Speed.getValue();
if(UseAcceleration.getValue()) if (UseAcceleration.getValue())
wpt.Accelaration = Acceleration.getValue(); wpt.Acceleration = Acceleration.getValue();
switch(ContType.getValue()){ switch (ContType.getValue()) {
case 0: break; case 0: break;
case 1: wpt.Cont = true;break; case 1: wpt.Cont = true; break;
case 2: wpt.Cont = false;break; case 2: wpt.Cont = false; break;
default: assert(0); // must not happen! default: assert(0); // must not happen!
} }
switch(AddType.getValue()){ switch (AddType.getValue()) {
// do nothing // do nothing
case 0: break; case 0: break;
// use orientation // use orientation
case 1: case 1:
wpt.EndPos.setRotation(PosAdd.getValue().getRotation()); wpt.EndPos.setRotation(PosAdd.getValue().getRotation());
break; break;
// add position // add position
case 2: case 2:
wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition()); wpt.EndPos.setPosition(wpt.EndPos.getPosition() + PosAdd.getValue().getPosition());
break; break;
// add orientation // add orientation
case 3: case 3:
wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation()); wpt.EndPos.setRotation(wpt.EndPos.getRotation() * PosAdd.getValue().getRotation());
break; break;
// add orientation & position // add orientation & position
case 4: case 4:
wpt.EndPos= wpt.EndPos * PosAdd.getValue(); wpt.EndPos = wpt.EndPos * PosAdd.getValue();
break; break;
default: assert(0); // must not happen! default: assert(0); // must not happen!
} }
result.addWaypoint(wpt); result.addWaypoint(wpt);
@@ -119,12 +119,11 @@ App::DocumentObjectExecReturn *TrajectoryDressUpObject::execute(void)
// set the resulting Trajectory to the object // set the resulting Trajectory to the object
Trajectory.setValue(result); Trajectory.setValue(result);
return App::DocumentObject::StdReturn; return App::DocumentObject::StdReturn;
} }
void TrajectoryDressUpObject::onChanged(const Property* prop) void TrajectoryDressUpObject::onChanged(const Property* prop)
{ {
App::GeoFeature::onChanged(prop); App::GeoFeature::onChanged(prop);
} }

10
src/Mod/Robot/App/Waypoint.cpp
View File

@@ -60,7 +60,7 @@ Waypoint::Waypoint(const char* name,
const Base::Placement &endPos, const Base::Placement &endPos,
WaypointType type, WaypointType type,
float velocity, float velocity,
float accelaration, float acceleration,
bool cont, bool cont,
unsigned int tool, unsigned int tool,
unsigned int base) unsigned int base)
@@ -68,7 +68,7 @@ Waypoint::Waypoint(const char* name,
: Name(name) : Name(name)
, Type(type) , Type(type)
, Velocity(velocity) , Velocity(velocity)
, Accelaration(accelaration) , Acceleration(acceleration)
, Cont(cont) , Cont(cont)
, Tool(tool) , Tool(tool)
, Base(base) , Base(base)
@@ -79,7 +79,7 @@ Waypoint::Waypoint(const char* name,
Waypoint::Waypoint() Waypoint::Waypoint()
: Type(UNDEF) : Type(UNDEF)
, Velocity(1000.0) , Velocity(1000.0)
, Accelaration(100.0) , Acceleration(100.0)
, Cont(false) , Cont(false)
, Tool(0) , Tool(0)
, Base(0) , Base(0)
@@ -107,7 +107,7 @@ void Waypoint::Save (Writer &writer) const
<< "Q2=\"" << EndPos.getRotation()[2] << "\" " << "Q2=\"" << EndPos.getRotation()[2] << "\" "
<< "Q3=\"" << EndPos.getRotation()[3] << "\" " << "Q3=\"" << EndPos.getRotation()[3] << "\" "
<< "vel=\"" << Velocity << "\" " << "vel=\"" << Velocity << "\" "
<< "acc=\"" << Accelaration << "\" " << "acc=\"" << Acceleration << "\" "
<< "cont=\"" << int((Cont)?1:0) << "\" " << "cont=\"" << int((Cont)?1:0) << "\" "
<< "tool=\"" << Tool << "\" " << "tool=\"" << Tool << "\" "
<< "base=\"" << Base << "\" "; << "base=\"" << Base << "\" ";
@@ -139,7 +139,7 @@ void Waypoint::Restore(XMLReader &reader)
reader.getAttributeAsFloat("Q3"))); reader.getAttributeAsFloat("Q3")));
Velocity = (float) reader.getAttributeAsFloat("vel"); Velocity = (float) reader.getAttributeAsFloat("vel");
Accelaration = (float) reader.getAttributeAsFloat("acc"); Acceleration = (float) reader.getAttributeAsFloat("acc");
Cont = (reader.getAttributeAsInteger("cont") != 0)?true:false; Cont = (reader.getAttributeAsInteger("cont") != 0)?true:false;
Tool = reader.getAttributeAsInteger("tool"); Tool = reader.getAttributeAsInteger("tool");
Base = reader.getAttributeAsInteger("base"); Base = reader.getAttributeAsInteger("base");

24
src/Mod/Robot/App/Waypoint.h
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@@ -50,27 +50,27 @@ public:
Waypoint(); Waypoint();
/// full constructor /// full constructor
Waypoint(const char* name, Waypoint(const char* name,
const Base::Placement &endPos, const Base::Placement& endPos,
WaypointType type=Waypoint::LINE, WaypointType type = Waypoint::LINE,
float velocity=2000.0, float velocity = 2000.0,
float accelaration=100.0, float acceleration = 100.0,
bool cont=false, bool cont = false,
unsigned int tool=0, unsigned int tool = 0,
unsigned int base = 0); unsigned int base = 0);
~Waypoint(); ~Waypoint();
// from base class // from base class
virtual unsigned int getMemSize (void) const; virtual unsigned int getMemSize(void) const;
virtual void Save (Base::Writer &/*writer*/) const; virtual void Save(Base::Writer& /*writer*/) const;
virtual void Restore(Base::XMLReader &/*reader*/); virtual void Restore(Base::XMLReader& /*reader*/);
std::string Name; std::string Name;
WaypointType Type; WaypointType Type;
float Velocity; float Velocity;
float Accelaration; float Acceleration;
bool Cont; bool Cont;
unsigned int Tool,Base; unsigned int Tool,Base;
Base::Placement EndPos; Base::Placement EndPos;

68
src/Mod/Robot/App/WaypointPyImp.cpp
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@@ -83,60 +83,60 @@ PyObject *WaypointPy::PyMake(struct _typeobject *, PyObject *, PyObject *) // P
// constructor method // constructor method
int WaypointPy::PyInit(PyObject* args, PyObject* kwd) int WaypointPy::PyInit(PyObject* args, PyObject* kwd)
{ {
PyObject *pos; PyObject* pos;
char *name="P"; char* name = "P";
char *type = "PTP"; char* type = "PTP";
PyObject *vel = 0; PyObject* vel = 0;
PyObject *acc = 0; PyObject* acc = 0;
int cont = 0; int cont = 0;
int tool=0; int tool = 0;
int base=0; int base = 0;
static char *kwlist[] = {"Pos", "type","name", "vel", "cont", "tool", "base", "acc" ,NULL}; static char* kwlist[] = { "Pos", "type","name", "vel", "cont", "tool", "base", "acc" ,NULL };
if (!PyArg_ParseTupleAndKeywords(args, kwd, "O!|ssOiiiO", kwlist, if (!PyArg_ParseTupleAndKeywords(args, kwd, "O!|ssOiiiO", kwlist,
&(Base::PlacementPy::Type), &pos, // the placement object &(Base::PlacementPy::Type), &pos, // the placement object
&type, &name, &vel, &cont, &tool, &base, &acc )) &type, &name, &vel, &cont, &tool, &base, &acc))
return -1; return -1;
Base::Placement TempPos = *static_cast<Base::PlacementPy*>(pos)->getPlacementPtr(); Base::Placement TempPos = *static_cast<Base::PlacementPy*>(pos)->getPlacementPtr();
getWaypointPtr()->EndPos = TempPos; getWaypointPtr()->EndPos = TempPos;
getWaypointPtr()->Name = name; getWaypointPtr()->Name = name;
std::string typeStr(type); std::string typeStr(type);
if(typeStr=="PTP") if (typeStr == "PTP")
getWaypointPtr()->Type = Waypoint::PTP; getWaypointPtr()->Type = Waypoint::PTP;
else if(typeStr=="LIN") else if (typeStr == "LIN")
getWaypointPtr()->Type = Waypoint::LINE; getWaypointPtr()->Type = Waypoint::LINE;
else if(typeStr=="CIRC") else if (typeStr == "CIRC")
getWaypointPtr()->Type = Waypoint::CIRC; getWaypointPtr()->Type = Waypoint::CIRC;
else if(typeStr=="WAIT") else if (typeStr == "WAIT")
getWaypointPtr()->Type = Waypoint::WAIT; getWaypointPtr()->Type = Waypoint::WAIT;
else else
getWaypointPtr()->Type = Waypoint::UNDEF; getWaypointPtr()->Type = Waypoint::UNDEF;
if(vel == 0) if (vel == 0)
switch (getWaypointPtr()->Type){ switch (getWaypointPtr()->Type) {
case Waypoint::PTP: case Waypoint::PTP:
getWaypointPtr()->Velocity = 100; getWaypointPtr()->Velocity = 100;
break; break;
case Waypoint::LINE: case Waypoint::LINE:
getWaypointPtr()->Velocity = 2000; getWaypointPtr()->Velocity = 2000;
break; break;
case Waypoint::CIRC: case Waypoint::CIRC:
getWaypointPtr()->Velocity = 2000; getWaypointPtr()->Velocity = 2000;
break; break;
default: default:
getWaypointPtr()->Velocity = 0; getWaypointPtr()->Velocity = 0;
} }
else else
getWaypointPtr()->Velocity = Base::UnitsApi::toDouble(vel,Base::Unit::Velocity); getWaypointPtr()->Velocity = Base::UnitsApi::toDouble(vel, Base::Unit::Velocity);
getWaypointPtr()->Cont = cont?true:false; getWaypointPtr()->Cont = cont ? true : false;
getWaypointPtr()->Tool = tool; getWaypointPtr()->Tool = tool;
getWaypointPtr()->Base = base; getWaypointPtr()->Base = base;
if(acc == 0) if (acc == 0)
getWaypointPtr()->Accelaration = 100; getWaypointPtr()->Acceleration = 100;
else else
getWaypointPtr()->Accelaration = Base::UnitsApi::toDouble(acc,Base::Unit::Acceleration); getWaypointPtr()->Acceleration = Base::UnitsApi::toDouble(acc, Base::Unit::Acceleration);
return 0; return 0;
} }

222
src/Mod/Robot/App/kdl_cp/chainfksolver.hpp
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@@ -1,111 +1,111 @@
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Version: 1.0 // Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl // URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or // This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public // modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either // License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version. // version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful, // This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of // but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details. // Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public // You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software // License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_CHAIN_FKSOLVER_HPP #ifndef KDL_CHAIN_FKSOLVER_HPP
#define KDL_CHAIN_FKSOLVER_HPP #define KDL_CHAIN_FKSOLVER_HPP
#include "chain.hpp" #include "chain.hpp"
#include "framevel.hpp" #include "framevel.hpp"
#include "frameacc.hpp" #include "frameacc.hpp"
#include "jntarray.hpp" #include "jntarray.hpp"
#include "jntarrayvel.hpp" #include "jntarrayvel.hpp"
#include "jntarrayacc.hpp" #include "jntarrayacc.hpp"
#include "solveri.hpp" #include "solveri.hpp"
namespace KDL { namespace KDL {
/** /**
* \brief This <strong>abstract</strong> class encapsulates a * \brief This <strong>abstract</strong> class encapsulates a
* solver for the forward position kinematics for a KDL::Chain. * solver for the forward position kinematics for a KDL::Chain.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
//Forward definition //Forward definition
class ChainFkSolverPos : public KDL::SolverI { class ChainFkSolverPos : public KDL::SolverI {
public: public:
/** /**
* Calculate forward position kinematics for a KDL::Chain, * Calculate forward position kinematics for a KDL::Chain,
* from joint coordinates to cartesian pose. * from joint coordinates to cartesian pose.
* *
* @param q_in input joint coordinates * @param q_in input joint coordinates
* @param p_out reference to output cartesian pose * @param p_out reference to output cartesian pose
* @param segmentNr default to -1 * @param segmentNr default to -1
* *
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0; virtual int JntToCart(const JntArray& q_in, Frame& p_out,int segmentNr=-1)=0;
virtual ~ChainFkSolverPos(){}; virtual ~ChainFkSolverPos(){};
}; };
/** /**
* \brief This <strong>abstract</strong> class encapsulates a solver * \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward velocity kinematics for a KDL::Chain. * for the forward velocity kinematics for a KDL::Chain.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
class ChainFkSolverVel : public KDL::SolverI { class ChainFkSolverVel : public KDL::SolverI {
public: public:
/** /**
* Calculate forward position and velocity kinematics, from * Calculate forward position and velocity kinematics, from
* joint coordinates to cartesian coordinates. * joint coordinates to cartesian coordinates.
* *
* @param q_in input joint coordinates (position and velocity) * @param q_in input joint coordinates (position and velocity)
* @param out output cartesian coordinates (position and velocity) * @param out output cartesian coordinates (position and velocity)
* @param segmentNr default to -1 * @param segmentNr default to -1
* *
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
virtual ~ChainFkSolverVel(){}; virtual ~ChainFkSolverVel(){};
}; };
/** /**
* \brief This <strong>abstract</strong> class encapsulates a solver * \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward acceleration kinematics for a KDL::Chain. * for the forward acceleration kinematics for a KDL::Chain.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
class ChainFkSolverAcc : public KDL::SolverI { class ChainFkSolverAcc : public KDL::SolverI {
public: public:
/** /**
* Calculate forward position, velocity and accelaration * Calculate forward position, velocity and acceleration
* kinematics, from joint coordinates to cartesian coordinates * kinematics, from joint coordinates to cartesian coordinates
* *
* @param q_in input joint coordinates (position, velocity and * @param q_in input joint coordinates (position, velocity and
* acceleration * acceleration
* @param out output cartesian coordinates (position, velocity * @param out output cartesian coordinates (position, velocity
* and acceleration * and acceleration
* @param segmentNr default to -1 * @param segmentNr default to -1
* *
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
virtual ~ChainFkSolverAcc()=0; virtual ~ChainFkSolverAcc()=0;
}; };
}//end of namespace KDL }//end of namespace KDL
#endif #endif

220
src/Mod/Robot/App/kdl_cp/treefksolver.hpp
View File

@@ -1,110 +1,110 @@
// Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Copyright (C) 2007 Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Copyright (C) 2008 Julia Jesse // Copyright (C) 2008 Julia Jesse
// Version: 1.0 // Version: 1.0
// Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Author: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be> // Maintainer: Ruben Smits <ruben dot smits at mech dot kuleuven dot be>
// URL: http://www.orocos.org/kdl // URL: http://www.orocos.org/kdl
// This library is free software; you can redistribute it and/or // This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public // modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation; either // License as published by the Free Software Foundation; either
// version 2.1 of the License, or (at your option) any later version. // version 2.1 of the License, or (at your option) any later version.
// This library is distributed in the hope that it will be useful, // This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of // but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// Lesser General Public License for more details. // Lesser General Public License for more details.
// You should have received a copy of the GNU Lesser General Public // You should have received a copy of the GNU Lesser General Public
// License along with this library; if not, write to the Free Software // License along with this library; if not, write to the Free Software
// Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA // Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
#ifndef KDL_TREE_FKSOLVER_HPP #ifndef KDL_TREE_FKSOLVER_HPP
#define KDL_TREE_FKSOLVER_HPP #define KDL_TREE_FKSOLVER_HPP
#include <string> #include <string>
#include "tree.hpp" #include "tree.hpp"
//#include "framevel.hpp" //#include "framevel.hpp"
//#include "frameacc.hpp" //#include "frameacc.hpp"
#include "jntarray.hpp" #include "jntarray.hpp"
//#include "jntarrayvel.hpp" //#include "jntarrayvel.hpp"
//#include "jntarrayacc.hpp" //#include "jntarrayacc.hpp"
namespace KDL { namespace KDL {
/** /**
* \brief This <strong>abstract</strong> class encapsulates a * \brief This <strong>abstract</strong> class encapsulates a
* solver for the forward position kinematics for a KDL::Tree. * solver for the forward position kinematics for a KDL::Tree.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
//Forward definition //Forward definition
class TreeFkSolverPos { class TreeFkSolverPos {
public: public:
/** /**
* Calculate forward position kinematics for a KDL::Tree, * Calculate forward position kinematics for a KDL::Tree,
* from joint coordinates to cartesian pose. * from joint coordinates to cartesian pose.
* *
* @param q_in input joint coordinates * @param q_in input joint coordinates
* @param p_out reference to output cartesian pose * @param p_out reference to output cartesian pose
* @param segmentName * @param segmentName
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0; virtual int JntToCart(const JntArray& q_in, Frame& p_out, std::string segmentName)=0;
virtual ~TreeFkSolverPos(){}; virtual ~TreeFkSolverPos(){};
}; };
/** /**
* \brief This <strong>abstract</strong> class encapsulates a solver * \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward velocity kinematics for a KDL::Tree. * for the forward velocity kinematics for a KDL::Tree.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
// class TreeFkSolverVel { // class TreeFkSolverVel {
// public: // public:
/** /**
* Calculate forward position and velocity kinematics, from * Calculate forward position and velocity kinematics, from
* joint coordinates to cartesian coordinates. * joint coordinates to cartesian coordinates.
* *
* @param q_in input joint coordinates (position and velocity) * @param q_in input joint coordinates (position and velocity)
* @param out output cartesian coordinates (position and velocity) * @param out output cartesian coordinates (position and velocity)
* *
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
// virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0; // virtual int JntToCart(const JntArrayVel& q_in, FrameVel& out,int segmentNr=-1)=0;
// virtual ~TreeFkSolverVel(){}; // virtual ~TreeFkSolverVel(){};
// }; // };
/** /**
* \brief This <strong>abstract</strong> class encapsulates a solver * \brief This <strong>abstract</strong> class encapsulates a solver
* for the forward acceleration kinematics for a KDL::Tree. * for the forward acceleration kinematics for a KDL::Tree.
* *
* @ingroup KinematicFamily * @ingroup KinematicFamily
*/ */
// class TreeFkSolverAcc { // class TreeFkSolverAcc {
// public: // public:
/** /**
* Calculate forward position, velocity and accelaration * Calculate forward position, velocity and acceleration
* kinematics, from joint coordinates to cartesian coordinates * kinematics, from joint coordinates to cartesian coordinates
* *
* @param q_in input joint coordinates (position, velocity and * @param q_in input joint coordinates (position, velocity and
* acceleration * acceleration
@param out output cartesian coordinates (position, velocity @param out output cartesian coordinates (position, velocity
* and acceleration * and acceleration
* *
* @return if < 0 something went wrong * @return if < 0 something went wrong
*/ */
// virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0; // virtual int JntToCart(const JntArrayAcc& q_in, FrameAcc& out,int segmentNr=-1)=0;
// virtual ~TreeFkSolverAcc()=0; // virtual ~TreeFkSolverAcc()=0;
// }; // };
}//end of namespace KDL }//end of namespace KDL
#endif #endif

2
src/Mod/Robot/Gui/AppRobotGui.cpp
View File

@@ -92,7 +92,7 @@ PyMOD_INIT_FUNC(RobotGui)
// default Cintinuity is off // default Cintinuity is off
Base::Interpreter().runString("_DefCont = False"); Base::Interpreter().runString("_DefCont = False");
// default Cintinuity is off // default Cintinuity is off
Base::Interpreter().runString("_DefAccelaration = '1 m/s^2'"); Base::Interpreter().runString("_DefAcceleration = '1 m/s^2'");
// default orientation of a waypoint if no other constraint // default orientation of a waypoint if no other constraint
Base::Interpreter().runString("_DefOrientation = FreeCAD.Rotation()"); Base::Interpreter().runString("_DefOrientation = FreeCAD.Rotation()");
// default displacement while e.g. picking // default displacement while e.g. picking

6
src/Mod/Robot/Gui/CommandTrajectory.cpp
View File

@@ -130,7 +130,7 @@ void CmdRobotInsertWaypoint::activated(int)
std::string TrakName = pcTrajectoryObject->getNameInDocument(); std::string TrakName = pcTrajectoryObject->getNameInDocument();
openCommand("Insert waypoint"); openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App.activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAccelaration,tool=1))",TrakName.c_str(),TrakName.c_str(),RoboName.c_str(),RoboName.c_str()); doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(App.activeDocument().%s.Tcp.multiply(App.activeDocument().%s.Tool),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",TrakName.c_str(),TrakName.c_str(),RoboName.c_str(),RoboName.c_str());
updateActive(); updateActive();
commitCommand(); commitCommand();
@@ -194,7 +194,7 @@ void CmdRobotInsertWaypointPreselect::activated(int)
} }
openCommand("Insert waypoint"); openCommand("Insert waypoint");
doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement(FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAccelaration,tool=1))",TrakName.c_str(),TrakName.c_str(),x,y,z); doCommand(Doc,"App.activeDocument().%s.Trajectory = App.activeDocument().%s.Trajectory.insertWaypoints(Robot.Waypoint(FreeCAD.Placement(FreeCAD.Vector(%f,%f,%f)+_DefDisplacement,_DefOrientation),type='LIN',name='Pt',vel=_DefSpeed,cont=_DefCont,acc=_DefAcceleration,tool=1))",TrakName.c_str(),TrakName.c_str(),x,y,z);
updateActive(); updateActive();
commitCommand(); commitCommand();
@@ -286,7 +286,7 @@ void CmdRobotSetDefaultValues::activated(int)
QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"), QLineEdit::Normal, QObject::tr("acceleration: (e.g. 1 m/s^2 or 3 cm/s^2)"), QLineEdit::Normal,
QString::fromLatin1("1 m/s^2"), &ok, Qt::MSWindowsFixedSizeDialogHint); QString::fromLatin1("1 m/s^2"), &ok, Qt::MSWindowsFixedSizeDialogHint);
if ( ok && !text.isEmpty() ) { if ( ok && !text.isEmpty() ) {
doCommand(Doc,"_DefAccelaration = '%s'",text.toLatin1().constData()); doCommand(Doc,"_DefAcceleration = '%s'",text.toLatin1().constData());
} }

2
src/Mod/Robot/Gui/TaskTrajectory.cpp
View File

@@ -81,7 +81,7 @@ TaskTrajectory::TaskTrajectory(Robot::RobotObject *pcRobotObject,Robot::Trajecto
else else
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-"))); ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-")));
ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity))); ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity)));
ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Accelaration))); ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Acceleration)));
} }

2
src/Mod/Robot/Gui/TrajectorySimulate.cpp
View File

@@ -79,7 +79,7 @@ TrajectorySimulate::TrajectorySimulate(Robot::RobotObject *pcRobotObject,Robot::
else else
ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-"))); ui->trajectoryTable->setItem(i, 2, new QTableWidgetItem(QString::fromLatin1("-")));
ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity))); ui->trajectoryTable->setItem(i, 3, new QTableWidgetItem(QString::number(pt.Velocity)));
ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Accelaration))); ui->trajectoryTable->setItem(i, 4, new QTableWidgetItem(QString::number(pt.Acceleration)));
} }