增加机器人奇异点检测

2026-06-16 12:56:26 +08:00
parent a100e44ac0
commit 0c7dc9e05b
8 changed files with 327 additions and 15 deletions
--- a/src/api/KinematicsWebAPI.Core.cpp
+++ b/src/api/KinematicsWebAPI.Core.cpp
@@ -15,6 +15,7 @@ bool isRobotCommand(const std::string &req_cmd)
           req_cmd == "Cmd_Kinematics_inverse_pose_str_NoDifference" ||
           req_cmd == "Cmd_Kinematics_forward_pose_str" ||
           req_cmd == "Cmd_Kinematics_forward_all_joints" ||
+           req_cmd == "Cmd_Kinematics_check_singularity" ||
           req_cmd == "Cmd_InitRobot" ||
           req_cmd == "Cmd_GetRobot" ||
           req_cmd == "Cmd_RemoveRobot" ||