53 lines
1.7 KiB
C
53 lines
1.7 KiB
C
#ifndef LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H
|
|
#define LINUXCNC_WEB_WASM_SIM_KINEMATICS_FEEDBACK_H
|
|
|
|
#include "sim_kinematics.h"
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
enum sim_kinematics_feedback_result {
|
|
SIM_KIN_FEEDBACK_OK = 0,
|
|
SIM_KIN_FEEDBACK_ERR_ARGUMENT = -820,
|
|
SIM_KIN_FEEDBACK_ERR_CONFIGURATION = -821,
|
|
SIM_KIN_FEEDBACK_ERR_NONFINITE = -822,
|
|
SIM_KIN_FEEDBACK_ERR_FORWARD = -823,
|
|
SIM_KIN_FEEDBACK_ERR_STATE = -824,
|
|
};
|
|
|
|
typedef struct sim_kinematics_feedback_state {
|
|
sim_posemath_pose pose;
|
|
uint64_t forward_flags;
|
|
uint64_t inverse_flags;
|
|
double joints[SIM_KIN_MAX_JOINTS];
|
|
uint32_t joint_count;
|
|
uint32_t tick;
|
|
uint32_t valid;
|
|
int last_error;
|
|
int kinematics_error;
|
|
} sim_kinematics_feedback_state;
|
|
|
|
typedef struct sim_kinematics_feedback {
|
|
sim_kinematics *kinematics;
|
|
sim_kinematics_feedback_state state;
|
|
} sim_kinematics_feedback;
|
|
|
|
int sim_kinematics_feedback_init(sim_kinematics_feedback *feedback,
|
|
sim_kinematics *kinematics,
|
|
uint32_t joint_count);
|
|
int sim_kinematics_feedback_reset(sim_kinematics_feedback *feedback);
|
|
int sim_kinematics_feedback_update(sim_kinematics_feedback *feedback,
|
|
const double *joints, uint32_t joint_count,
|
|
uint64_t inverse_flags,
|
|
sim_kinematics_result_info *info);
|
|
int sim_kinematics_feedback_read(const sim_kinematics_feedback *feedback,
|
|
sim_kinematics_feedback_state *state);
|
|
uint64_t sim_kinematics_feedback_state_hash(const sim_kinematics_feedback *feedback);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif
|