trivkins.c

Source code for an Numeric Cmputer

/********************************************************************
* Description: trivkins.c
*   Trivial kinematics for 3 axis Cartesian machine
*
*   Derived from a work by Fred Proctor & Will Shackleford
*
* Author:
* License: GPL Version 2
* System: Linux
*    
* Copyright (c) 2004 All rights reserved.
*
* Last change:
* $Revision: 1.7 $
* $Author: yabosukz $
* $Date: 2005/07/08 14:11:07 $
********************************************************************/

#include "motion.h"		/* these decls */

int kinematicsForward(const double *joints,
		      EmcPose * pos,
		      const KINEMATICS_FORWARD_FLAGS * fflags,
		      KINEMATICS_INVERSE_FLAGS * iflags)
{
    pos->tran.x = joints[0];
    pos->tran.y = joints[1];
    pos->tran.z = joints[2];
    pos->a = joints[3];
    pos->b = joints[4];
    pos->c = joints[5];

    return 0;
}

int kinematicsInverse(const EmcPose * pos,
		      double *joints,
		      const KINEMATICS_INVERSE_FLAGS * iflags,
		      KINEMATICS_FORWARD_FLAGS * fflags)
{
    joints[0] = pos->tran.x;
    joints[1] = pos->tran.y;
    joints[2] = pos->tran.z;
    joints[3] = pos->a;
    joints[4] = pos->b;
    joints[5] = pos->c;

    return 0;
}

/* implemented for these kinematics as giving joints preference */
int kinematicsHome(EmcPose * world,
		   double *joint,
		   KINEMATICS_FORWARD_FLAGS * fflags,
		   KINEMATICS_INVERSE_FLAGS * iflags)
{
    *fflags = 0;
    *iflags = 0;

    return kinematicsForward(joint, world, fflags, iflags);
}

KINEMATICS_TYPE kinematicsType()
{
    return KINEMATICS_IDENTITY;
}