增加机器人奇异点检测

src/api/KinematicsWebAPI.RobotCommands.cpp

@@ -175,6 +175,39 @@ json KinematicsWebAPI::handleRobotCommand(const std::string &req_cmd, const json
             res_data = {{"error", "Failed to calculate forward kinematics for all joints: " + std::string(e.what())}};
         }
     }
+    else if (req_cmd == "Cmd_Kinematics_check_singularity")
+    {
+        try
+        {
+            log("Handling Cmd_Kinematics_check_singularity command");
+
+            std::string joints_str = req_param.value("joints_str", req_param.value("q_init_str", "0,0,0,0,0,0"));
+            std::string robot_uuid = req_param.value("robot_uuid", "default");
+            double singular_threshold = req_param.value("singular_threshold", 1e-4);
+            double warning_threshold = req_param.value("warning_threshold", 1e-2);
+            double condition_threshold = req_param.value("condition_threshold", 1e6);
+            double condition_warning_threshold = req_param.value("condition_warning_threshold", 1e4);
+
+            auto robot = RobotManager::getRobot(robot_uuid);
+            if (!robot || !robot->isInitialized())
+            {
+                res_data = {{"error", "Robot not found or not initialized"}};
+            }
+            else
+            {
+                res_data = robot->checkSingularity(
+                    joints_str,
+                    singular_threshold,
+                    warning_threshold,
+                    condition_threshold,
+                    condition_warning_threshold);
+            }
+        }
+        catch (const std::exception &e)
+        {
+            res_data = {{"error", "Failed to check singularity: " + std::string(e.what())}};
+        }
+    }
     else if (req_cmd == "Cmd_InitRobot")
     {
         try