30 lines
758 B
C++
30 lines
758 B
C++
#ifndef _KINEMATICS_
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#define _KINEMATICS_
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#define _USE_MATH_DEFINES
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#include <cmath>
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#include <vector>
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#include <iostream>
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#define LINK1 4
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#define LINK2 7
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#define LINK3 12
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//#include "opencv2/opencv.hpp"
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float deg2rad(float angle);
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float rad2deg(float angle);
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std::vector<float> computeForwardKinematics(float q1, float q2, float q3, float L1, float L2, float L3);
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std::vector<float> computeInverseKinematics(float x, float y, float z, float L1, float L2, float L3);
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/*std::vector<float> computeDifferentialKinematics(float q1, float q2, float q3, float L1, float L2, float L3);
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int computeJacobianMatrixRank(std::vector<float> vJacobianMatrix, float threshold);
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cv::Mat computeInverseJacobianMatrix(std::vector<float> vJacobianMatrix);
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*/
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#endif |