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);


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 */