99 lines
3.6 KiB
C++
99 lines
3.6 KiB
C++
/***************************************************************************
|
|
* Copyright (c) Jürgen Riegel (juergen.riegel@web.de) 2002 *
|
|
* *
|
|
* This file is part of the FreeCAD CAx development system. *
|
|
* *
|
|
* This library is free software; you can redistribute it and/or *
|
|
* modify it under the terms of the GNU Library General Public *
|
|
* License as published by the Free Software Foundation; either *
|
|
* version 2 of the License, or (at your option) any later version. *
|
|
* *
|
|
* This library is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
|
* GNU Library General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Library General Public *
|
|
* License along with this library; see the file COPYING.LIB. If not, *
|
|
* write to the Free Software Foundation, Inc., 59 Temple Place, *
|
|
* Suite 330, Boston, MA 02111-1307, USA *
|
|
* *
|
|
***************************************************************************/
|
|
|
|
|
|
#ifndef ROBOT_ROBOT6AXLE_H
|
|
#define ROBOT_ROBOT6AXLE_H
|
|
|
|
#include "kdl_cp/chain.hpp"
|
|
#include "kdl_cp/jntarray.hpp"
|
|
|
|
#include <Base/Persistence.h>
|
|
#include <Base/Placement.h>
|
|
|
|
namespace Robot
|
|
{
|
|
|
|
/// Definition of the Axis properties
|
|
struct AxisDefinition {
|
|
double a; // a of the Denavit-Hartenberg parameters (mm)
|
|
double alpha; // alpha of the Denavit-Hartenberg parameters (°)
|
|
double d; // d of the Denavit-Hartenberg parameters (mm)
|
|
double theta; // a of the Denavit-Hartenberg parameters (°)
|
|
double rotDir; // rotational direction (1|-1)
|
|
double maxAngle; // soft ends + in °
|
|
double minAngle; // soft ends - in °
|
|
double velocity; // max vlocity of the axle in °/s
|
|
};
|
|
|
|
|
|
/** The representation for a 6-Axis industry grade robot
|
|
*/
|
|
class RobotExport Robot6Axis : public Base::Persistence
|
|
{
|
|
TYPESYSTEM_HEADER();
|
|
|
|
public:
|
|
Robot6Axis();
|
|
~Robot6Axis();
|
|
|
|
// from base class
|
|
virtual unsigned int getMemSize (void) const;
|
|
virtual void Save (Base::Writer &/*writer*/) const;
|
|
virtual void Restore(Base::XMLReader &/*reader*/);
|
|
|
|
// interface
|
|
/// set the kinematic parameters of the robot
|
|
void setKinematic(const AxisDefinition KinDef[6]);
|
|
/// read the kinematic parameters of the robot from a file
|
|
void readKinematic(const char * FileName);
|
|
|
|
/// set the robot to that position, calculates the Axis
|
|
bool setTo(const Base::Placement &To);
|
|
bool setAxis(int Axis,double Value);
|
|
double getAxis(int Axis);
|
|
double getMaxAngle(int Axis);
|
|
double getMinAngle(int Axis);
|
|
/// calculate the new Tcp out of the Axis
|
|
bool calcTcp(void);
|
|
Base::Placement getTcp(void);
|
|
|
|
//void setKinematik(const std::vector<std::vector<float> > &KinTable);
|
|
|
|
|
|
protected:
|
|
KDL::Chain Kinematic;
|
|
KDL::JntArray Actuall;
|
|
KDL::JntArray Min;
|
|
KDL::JntArray Max;
|
|
KDL::Frame Tcp;
|
|
|
|
double Velocity[6];
|
|
double RotDir [6];
|
|
|
|
};
|
|
|
|
} //namespace Part
|
|
|
|
|
|
#endif // PART_TOPOSHAPE_H
|