21 lines
612 B
C++
21 lines
612 B
C++
#define _USE_MATH_DEFINES
|
|
#include <cmath>
|
|
#include <vector>
|
|
#include <iostream>
|
|
|
|
#include "opencv2/opencv.hpp"
|
|
|
|
float deg2rad(float angle);
|
|
|
|
float rad2deg(float angle);
|
|
|
|
std::vector<float> computeForwardKinematics(float q1, float q2, float L1, float L2);
|
|
|
|
std::vector<float> computeInverseKinematics(float x, float y, float L1, float L2);
|
|
|
|
std::vector<float> computeDifferentialKinematics(float q1, float q2, float L1, float L2);
|
|
|
|
int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold);
|
|
|
|
cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix);
|