lmc_robot_model_config.h

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#ifndef LMC_ROBOT_MODEL_CONFIG
#define LMC_ROBOT_MODEL_CONFIG
#include <stddef.h>
#include <motion_control/lmc_config.h>
#include <motion_control/lmc_math.h>


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

typedef struct lmc_link_dh_config {
    double a;       
    double alpha;   
    double d;       
    double theta;   
} lmc_link_dh_config_t;

typedef struct lmc_link_dyn_config {
    double ixx;    
    double iyy;    
    double izz;    
    double ixy;    
    double ixz;    
    double iyz;    
    double mass;   
    lmc_translation_t com; 
} lmc_link_dyn_config_t;

typedef struct lmc_link_config {
    lmc_link_dh_config_t dh;  
    lmc_link_dyn_config_t dyn;  
} lmc_link_config_t;

typedef struct lmc_robot_model_config {
    lmc_link_config_t segments[LMC_MAX_LINK_NUM]; 
    size_t segments_size; 
    char segment_stl_files[LMC_MAX_LINK_NUM][LMC_MAX_STRING_LEN]; 
    char name[LMC_MAX_STRING_LEN];  
} lmc_robot_model_config_t;

typedef struct lmc_tool_payload {
    double mass;    
    lmc_translation_t cog; 
} lmc_tool_payload_t;


#ifdef __cplusplus
}
#endif /* __cplusplus */

#endif /* LMC_ROBOT_MODEL_CONFIG */