18 lines
500 B
C++
18 lines
500 B
C++
#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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#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 L1, float L2);
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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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std::vector<float> computeInverseKinematics(float x, float y, float L1, float L2); |