hello_world.cpp

Go to the documentation of this file.

/*MIT License
 
Copyright (c) 2018-2019 Pierre Berthet-Rayne
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.*/
 
// TO USE THIS LIBRARY, SIMPLY ADD endorob.pri to your Qt creator project
 
#include <QCoreApplication>
#include "endorob.h"
#include <iostream>
 
int main(int argc, char *argv[])
{
    QCoreApplication app(argc, argv);
 
    // Create a Endorob object.
    Endorob robot;
 
    // Set the desired DH convention (optional). The default is modified DH
    robot.set_DH_convention(DH_type::DH_modified);
 
    double a = 0.1, alpha = 0, d = 0.01, theta = 0, a_bis = 0;
 
    // Fill in the DH table like this (whether you have, prismatic, revolute or rolling joints).
    robot.add_DH_entry(a,alpha,d,theta, Joint_type::Prismatic);
    robot.set_joint_limits(-0.1,0.1); // meters for prismatic joints
    robot.add_DH_entry(a,alpha,d,theta, Joint_type::Revolute);
    robot.set_joint_limits(-M_PI,M_PI); // radians for revolute or rolling joints
    robot.add_DH_entry(a,alpha,d,theta, Joint_type::Rolling,a_bis);
    robot.set_joint_limits(-M_PI/2,M_PI/2); // radians for revolute or rolling joints
 
    // Set base frame (optional: for standard DH convention only)
    Mat4d base;
    base << 1,0,0,0,
            0,1,0,0,
            0,0,1,0,
            0,0,0,1;
    robot.set_base_frame(base);
 
    // Set tool frame (optional, remember translation first, then rotation)
    Mat4d tool;
    tool << 1,0,0,0,
            0,1,0,0,
            0,0,1,0,
            0,0,0,1;
    robot.set_tool_frame(tool);
 
    // Set joint coupling matrix (optional). Must match the size of your DOF
    Vec coupling(3);
    coupling << 0, 1, 2;
    //robot.set_joint_coupling(coupling);
 
    // Set mask matrix to reduce workspace dimension (optional)
    // position, orientation
    // x, y, z, alpha, beta, gamma
    Vec mask(6);
    mask << 1, 1, 1, 0, 0, 0;
    //robot.set_mask(mask);
 
    // Set solver type (optional, default is simple pseudo inverse)
    robot.set_solver_type(Solver_type::Jacobian_DLS);
 
    // Start solver and thread
    // Do not forget this line
    robot.initialize();
 
    // Get tip pose:
    Mat4d Td = robot.get_tip_pose();
 
    // Set target for solver:
    robot.set_solver_target(Td);
 
    // Get solver solution (wait for convergence, best function to use, can run real-time)
    Vec q = robot.get_IK_solution();
 
    // Get solver solution (instant solution state, does not guarantee the solution is valid but very fast!)
    q = robot.get_instant_IK_solution();
 
    // Set robot joint vector
    Vec q_set(robot.dof());
    q_set << 0.1, 0.4, -0.3, 0.1;
    robot.set_q_vec(q_set);
 
    // Get Jacobian matrix
    Mat J = robot.get_Jacobian();
}