99 lines
3.8 KiB
C++
99 lines
3.8 KiB
C++
// SPDX-License-Identifier: LGPL-2.1-or-later
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/***************************************************************************
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* Copyright (c) 2002 Jürgen Riegel <juergen.riegel@web.de> *
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* *
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* This file is part of the FreeCAD CAx development system. *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU Library General Public *
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* License as published by the Free Software Foundation; either *
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* version 2 of the License, or (at your option) any later version. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Library General Public License for more details. *
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* *
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* You should have received a copy of the GNU Library General Public *
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* License along with this library; see the file COPYING.LIB. If not, *
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* write to the Free Software Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307, USA *
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* *
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***************************************************************************/
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#ifndef ROBOT_ROBOT6AXIS_H
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#define ROBOT_ROBOT6AXIS_H
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#include "kdl_cp/chain.hpp"
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#include "kdl_cp/jntarray.hpp"
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#include <Base/Persistence.h>
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#include <Base/Placement.h>
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#include <Mod/Robot/RobotGlobal.h>
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namespace Robot
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{
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/// Definition of the Axis properties
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struct AxisDefinition
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{
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double a = 0.0; // a of the Denavit-Hartenberg parameters (mm)
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double alpha = 0.0; // alpha of the Denavit-Hartenberg parameters (°)
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double d = 0.0; // d of the Denavit-Hartenberg parameters (mm)
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double theta = 0.0; // a of the Denavit-Hartenberg parameters (°)
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double rotDir = 0.0; // rotational direction (1|-1)
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double maxAngle = 0.0; // soft ends + in °
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double minAngle = 0.0; // soft ends - in °
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double velocity = 0.0; // max vlocity of the axle in °/s
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};
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/** The representation for a 6-Axis industry grade robot
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*/
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class RobotExport Robot6Axis: public Base::Persistence
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{
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TYPESYSTEM_HEADER_WITH_OVERRIDE();
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public:
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Robot6Axis();
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// from base class
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unsigned int getMemSize() const override;
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void Save(Base::Writer& /*writer*/) const override;
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void Restore(Base::XMLReader& /*reader*/) override;
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// interface
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/// set the kinematic parameters of the robot
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void setKinematic(const AxisDefinition KinDef[6]);
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/// read the kinematic parameters of the robot from a file
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void readKinematic(const char* FileName);
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/// set the robot to that position, calculates the Axis
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bool setTo(const Base::Placement& To);
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bool setAxis(int Axis, double Value);
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double getAxis(int Axis);
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double getMaxAngle(int Axis);
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double getMinAngle(int Axis);
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/// calculate the new Tcp out of the Axis
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bool calcTcp();
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Base::Placement getTcp();
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// void setKinematik(const std::vector<std::vector<float> > &KinTable);
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protected:
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KDL::Chain Kinematic;
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KDL::JntArray Actual;
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KDL::JntArray Min;
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KDL::JntArray Max;
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KDL::Frame Tcp;
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double Velocity[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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double RotDir[6] = {0.0, 0.0, 0.0, 0.0, 0.0, 0.0};
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};
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} // namespace Robot
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#endif // ROBOT_ROBOT6AXIS_H
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