00001 /* ________________________________________________________ 00002 | | 00003 | Program Name: structures.h | 00004 |________________________________________________________| 00005 | | 00006 | description: Contains data structures for system as | 00007 | well as a brief description of each. For more info | 00008 | try the user's manual. | 00009 | | 00010 | Structures: (order of appearance) | 00011 | MATRIX | 00012 | ANGLE | 00013 | Platform | 00014 | Manipulator_struct | 00015 | Solutions | 00016 |________________________________________________________| */ 00017 #include <time.h> 00018 #include <stddef.h> 00019 00020 /* MATRIX_struct is a structure for the matrixes used in the system */ 00021 typedef struct 00022 { 00023 float **p; /* Pointer to array of pointers to matrix rows. */ 00024 int rows; /* Row dimension of the matrix. */ 00025 int cols; /* Column dimension of the matrix. */ 00026 } MATRIX; 00027 00028 00029 /* Angles is an array containing containing several instances*/ 00030 /* of the following structure: limits, home, weight, etc... */ 00031 typedef struct { 00032 int Prism; /* ==Y then translates ==N then rotates */ 00033 float Max_limit, /* Max Limit for specific joint */ 00034 Min_limit, /* Min Limit for specific joint */ 00035 Max_accel, /* Max Limit for acceleration */ 00036 Min_accel, /* Min Limit for acceleration */ 00037 Home; /* Home position of joint */ 00038 } ANGLE; 00039 00040 00041 /* PLAT is an instance of the following structure which con- */ 00042 /* tains information about a specific platform. */ 00043 typedef struct { 00044 int Active, /* Determines if Platform is active */ 00045 Exist, /* Determines if Platform exists */ 00046 Holonomic; /* ==Y Holonomic, ==N Automobile-like */ 00047 float Length, /* Length of Platform */ 00048 Width, /* Width of Platform */ 00049 Thick, /* Thickness of Platform */ 00050 Z_OFF, /* offset of arm from platform Z */ 00051 L_OFF, /* offset of arm from platform center */ 00052 ANG_OFF; /* angle offset of first joint of Manip */ 00053 MATRIX *Man_base; /* location of the base of manipulator */ 00054 MATRIX *Corner[4]; /* locations of the corners of platform */ 00055 } Platform; 00056 00057 /* Gripper is an example of this structure */ 00058 typedef struct { 00059 MATRIX *Corner[4]; /* Points on end effector */ 00060 float Orient[3]; /* Orientation of end effector */ 00061 float Prev_pos[3]; /* Position of end effector at previous time step */ 00062 } EndEffector; 00063 00064 /* Robot is an instance of the following structure which con-*/ 00065 /* tains information of the Manipulator. */ 00066 typedef struct { 00067 int NA, /* Maximum number of Angles */ 00068 NL, /* Number of Links in Manipulator */ 00069 NX, /* set the workspace pos dim (2->2d) */ 00070 NO, /* set the workspace orient dim (1->2d) */ 00071 Orient; /* Use orientation control */ 00072 double *alpha, /* D-H parameters */ 00073 *theta, 00074 *dvals, 00075 *avals; 00076 MATRIX *trans; /* holds '1' or '0' if joint is active */ 00077 /* inside a transformations */ 00078 ANGLE *Angles; /* see Angles_struct above. */ 00079 Platform PLAT; /* see Platform_struct above. */ 00080 MATRIX *Weights; /* How active the joint is 0<x<= 1 */ 00081 MATRIX **x_of_link;/* Holds locations of the links */ 00082 double *LINKS; /* length of the links of the robot */ 00083 EndEffector Gripper; /* location of points on end effector */ 00084 } Manipulator_struct; 00085 00086 /* FSP_data is an instance of the following structure type. */ 00087 /* It contains info vital to FSP and IKOR's integration. */ 00088 typedef struct { 00089 int M, N, /* (unused) may be used to replace globals */ 00090 Mred, /* number of columns in reduced Jacobian */ 00091 Nred, /* number of rows in reduced Jacobian */ 00092 cn, /* number of constraints on system (betas) */ 00093 Null_Space; /* flag for detection of Null_Space Motion */ 00094 MATRIX *g, /* array of solution vectors */ 00095 *Qarray, /* current angles positions ( in rad ) */ 00096 *Impact, /* location of end effector at impact */ 00097 *betall, /* Contains All Betas (Beta all) */ 00098 *Xelim; /* Contains strict values for reduced dq's */ 00099 } Solutions; 00100 00101 /* Old_dq[] is an example of the following structure type. */ 00102 /* The size of this array is in general.h */ 00103 typedef struct { 00104 double time; /* time at which calc finished */ 00105 MATRIX *DQ; /* vector of joint steps */ 00106 } History_Element; 00107 00108 00109 #define HIST_SIZE 5 /* must be at least 5 */ 00110 typedef struct { 00111 int whereami; /* points to most recent event in history */ 00112 History_Element dq[HIST_SIZE]; /* array of joint movements */ 00113 } History; 00114 00115
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