dh

Documentation

Index

• func New(eps float32, maxIterations int, cfg ...Config) kinematics.Kinematics
• type Config
  • func (c Config) CalculateTransform(parameter float32, m *mat.Matrix4x4) bool
  • func (c Config) Limit(a float32) float32
• type DenavitHartenberg
  • func (p *DenavitHartenberg) DOF() int
  • func (p *DenavitHartenberg) Effector() vec.Vector
  • func (p *DenavitHartenberg) Forward() bool
  • func (p *DenavitHartenberg) Inverse() bool
  • func (p *DenavitHartenberg) Params() vec.Vector

Functions

func New

func New(eps float32, maxIterations int, cfg ...Config) kinematics.Kinematics

Types

type Config

type Config struct {
	Min   float32
	Max   float32
	Theta float32
	Alpha float32
	R     float32
	D     float32
	Index int
}

func (Config) CalculateTransform

func (c Config) CalculateTransform(parameter float32, m *mat.Matrix4x4) bool

func (Config) Limit

func (c Config) Limit(a float32) float32

type DenavitHartenberg

type DenavitHartenberg struct {
	H0i []mat.Matrix4x4 // TODO replace with Matrix4x4
	// contains filtered or unexported fields
}

func (*DenavitHartenberg) DOF

func (p *DenavitHartenberg) DOF() int

func (*DenavitHartenberg) Effector

func (p *DenavitHartenberg) Effector() vec.Vector

func (*DenavitHartenberg) Forward

func (p *DenavitHartenberg) Forward() bool

func (*DenavitHartenberg) Inverse

func (p *DenavitHartenberg) Inverse() bool

func (*DenavitHartenberg) Params

func (p *DenavitHartenberg) Params() vec.Vector