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Puma.h
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1 //
2 // Copyright (c) 2009, Markus Rickert
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29 
30 #ifndef _RL_KIN_PUMA_H_
31 #define _RL_KIN_PUMA_H_
32 
33 #include "Kinematics.h"
34 
35 namespace rl
36 {
37  namespace kin
38  {
42  class Puma : public Kinematics
43  {
44  public:
45  enum Arm
46  {
47  ARM_LEFT = -1,
49  };
50 
51  enum Elbow
52  {
55  };
56 
57  enum Wrist
58  {
61  };
62 
63  Puma();
64 
65  virtual ~Puma();
66 
67  virtual Kinematics* clone() const;
68 
69  Arm getArm() const;
70 
71  Elbow getElbow() const;
72 
73  Wrist getWrist() const;
74 
75  bool inversePosition(const ::rl::math::Transform& t, ::rl::math::Vector& q, const ::std::size_t& iterations = 1000);
76 
77  bool isSingular() const;
78 
80 
81  void setArm(const Arm& arm);
82 
83  void setElbow(const Elbow& elbow);
84 
85  void setWrist(const Wrist& wrist);
86 
87  protected:
88 
89  private:
90  template< typename T > T atan2(const T& y, const T& x) const
91  {
92  T a = ::std::atan2(y, x);
93  return (::std::abs(a) <= 1.0e-6f) ? 0.0f : a;
94  }
95 
96  template< typename T > T cos(const T& x) const
97  {
98  T c = ::std::cos(x);
99  return (::std::abs(c) <= 1.0e-6f) ? 0.0f : c;
100  }
101 
102  template< typename T > T sin(const T& x) const
103  {
104  T s = ::std::sin(x);
105  return (::std::abs(s) <= 1.0e-6f) ? 0.0f : s;
106  }
107 
109 
111 
113  };
114  }
115 }
116 
117 #endif // _RL_KIN_PUMA_H_
118