lmc_kin.h

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#ifndef LMC_KIN
#define LMC_KIN
#include <motion_control/lmc_robot_model.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */

int lmc_kin_fk_pose(lmc_robot_model_t* const robot_model,
                    double const* const joint_pos,
                    lmc_transform_t* const cart_pose);

int lmc_kin_fk_pose_by_index(lmc_robot_model_t* const robot_model,
                             double const* const joint_pos, int index,
                             lmc_transform_t* const cart_pose);

void lmc_kin_set_ik_coeff(lmc_robot_model_t* const robot_model,
                          double const* const coeff);

int lmc_kin_ik_pose(lmc_robot_model_t* const robot_model,
                    lmc_transform_t const* const cart_pose,
                    double* const joint_pos);

int lmc_kin_all_ik_poses(lmc_robot_model_t* const robot_model,
                         lmc_transform_t const* const cart_pose,
                         unsigned int* const num,
                         lmc_all_joint_poses_t* const joint_poses);

double lmc_kin_manipulation_measure(lmc_robot_model_t* const robot_model,
                                    double const* const joint_pos);

int16_t lmc_kin_get_singularity_type(lmc_robot_model_t* const robot_model,
                                     double const* const joint_pos);

int lmc_kin_cal_translation(lmc_transform_t const* const all_cart_pose,
                            size_t size, float tol, lmc_translation_t* const t);

int lmc_kin_cal_transform_from_oxy(lmc_translation_t const* const o,
                                   lmc_translation_t const* const x,
                                   lmc_translation_t const* const xy,
                                   double tol, lmc_transform_t* const t);

#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_KIN */