lmc_robot_model.h

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#ifndef LMC_ROBOT_MODEL
#define LMC_ROBOT_MODEL
#include <motion_control/lmc_robot_model_config.h>
#include <motion_control/lmc_joint.h>

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


typedef struct lmc_robot_model lmc_robot_model_t;

typedef enum lmc_robot_model_struct {
    STRUCT_TYPE_61,  
    STRUCT_TYPE_51,  
    STRUCT_TYPE_5A,  
} lmc_robot_model_struct_t;

lmc_robot_model_t* lmc_rm_new();

void lmc_rm_delete(lmc_robot_model_t** robot_model_addr);

int lmc_rm_init(lmc_robot_model_t* const robot_model, lmc_robot_model_config_t const* const robot_model_config, lmc_robot_model_struct_t struct_type);

size_t lmc_rm_joint_dof(lmc_robot_model_t const* const robot_model);

lmc_link_dh_config_t * lmc_rm_get_mdh(lmc_robot_model_t const* const robot_model, size_t * const size, lmc_link_dh_config_t * const params);

int lmc_rm_set_tool_payload(lmc_robot_model_t const * const robot_model, lmc_tool_payload_t const * const payload);

int lmc_rm_set_tcp_transform(lmc_robot_model_t const * const robot_model, lmc_transform_t const * const t);


#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_ROBOT_MODEL */