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[Robot] fix typo in function name

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- just to please the spellchecker CI
This commit is contained in:
Uwe
2022-07-01 03:38:54 +02:00
parent 4db7da7314
commit 6d3b3368b7
2 changed files with 9 additions and 9 deletions
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16
src/Mod/Robot/App/Robot6Axis.cpp
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@@ -76,7 +76,7 @@ Robot6Axis::Robot6Axis()
Max = JntArray(6);
// Create joint array
Actuall = JntArray(6);
Actual = JntArray(6);
// set to default kuka 500
setKinematic(KukaIR500);
@@ -187,7 +187,7 @@ void Robot6Axis::Save (Writer &writer) const
<< "maxAngle=\"" << Max(i)*(180.0/M_PI) << "\" "
<< "minAngle=\"" << Min(i)*(180.0/M_PI) << "\" "
<< "AxisVelocity=\""<< Velocity[i] << "\" "
<< "Pos=\"" << Actuall(i) << "\"/>"
<< "Pos=\"" << Actual(i) << "\"/>"
<< std::endl;
}
}
@@ -222,7 +222,7 @@ void Robot6Axis::Restore(XMLReader &reader)
Velocity[i] = reader.getAttributeAsFloat("AxisVelocity");
else
Velocity[i] = 156.0;
Actuall(i) = reader.getAttributeAsFloat("Pos");
Actual(i) = reader.getAttributeAsFloat("Pos");
}
Kinematic = Temp;
@@ -243,11 +243,11 @@ bool Robot6Axis::setTo(const Placement &To)
Frame F_dest = Frame(KDL::Rotation::Quaternion(To.getRotation()[0],To.getRotation()[1],To.getRotation()[2],To.getRotation()[3]),KDL::Vector(To.getPosition()[0],To.getPosition()[1],To.getPosition()[2]));
// solve
if (iksolver1.CartToJnt(Actuall,F_dest,result) < 0) {
if (iksolver1.CartToJnt(Actual,F_dest,result) < 0) {
return false;
}
else {
Actuall = result;
Actual = result;
Tcp = F_dest;
return true;
}
@@ -270,7 +270,7 @@ bool Robot6Axis::calcTcp(void)
// Calculate forward position kinematics
int kinematics_status;
kinematics_status = fksolver.JntToCart(Actuall,cartpos);
kinematics_status = fksolver.JntToCart(Actual,cartpos);
if (kinematics_status>=0) {
Tcp = cartpos;
return true;
@@ -282,11 +282,11 @@ bool Robot6Axis::calcTcp(void)
bool Robot6Axis::setAxis(int Axis,double Value)
{
Actuall(Axis) = RotDir[Axis] * Value * (M_PI/180); // degree to radiants
Actual(Axis) = RotDir[Axis] * Value * (M_PI/180); // degree to radiants
return calcTcp();
}
double Robot6Axis::getAxis(int Axis)
{
return RotDir[Axis] * (Actuall(Axis)/(M_PI/180)); // radian to degree
return RotDir[Axis] * (Actual(Axis)/(M_PI/180)); // radian to degree
}

2
src/Mod/Robot/App/Robot6Axis.h
View File

@@ -83,7 +83,7 @@ public:
protected:
KDL::Chain Kinematic;
KDL::JntArray Actuall;
KDL::JntArray Actual;
KDL::JntArray Min;
KDL::JntArray Max;
KDL::Frame Tcp;