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| Original file line number | Diff line number | Diff line change |
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| @@ -1,23 +1,59 @@ | ||
| # IK Geo C++ | ||
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| This is a wrapper for the Rust implementation for C++ | ||
| This is a wrapper for the Rust implementation for C++. The outpiut of this build is 2 files: | ||
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| 1. ik_geo.h | ||
| 2. libik_geo.so/libik_geo.lib | ||
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| ## To build | ||
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| In this directory, run `cmake . && make`. This will create a dist folder with three files: | ||
| - `ik_geo.h`, a header file to include in a c++ project | ||
| - `libik_cpp.a` (or `libik_cpp.lib` in Windows), a static library that must be included to use ik_geo in c++. | ||
| - `libik_geo.a` (or `libik_geo.lib` in Windows), another static library that must be included as well. | ||
| ```bash | ||
| mkdir build | ||
| cd build | ||
| cmake .. && make | ||
| ``` | ||
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| ## Including as a dependency | ||
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| You can get a CMake object to link against by including this source as a sub_directory. | ||
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| ```cmake | ||
| # Include the ik_geo cmake as a subdirectory | ||
| add_subdirectory(.. IK_GEO) | ||
| add_executable(test src/main.cpp) | ||
| # Link against the ik_geo object produced by the ik_geo cmake | ||
| target_link_libraries(test PRIVATE ik_geo) | ||
| ``` | ||
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| ## To use | ||
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| Include the three files from the build step in the project, and look at `ik_geo.h` for function signatures. | ||
| Include the header | ||
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| ```c++ | ||
| #include "ik_geo.h" | ||
| ``` | ||
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| Then you can create robots based off of kinematic specifications or select from hard coded ones | ||
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| ```c++ | ||
| int main() { | ||
| Robot robot = Robot::ur5(); | ||
| double rotation_matrix[9] = { | ||
| 1.0, 0.0, 0.0, | ||
| 0.0, 1.0, 0.0, | ||
| 0.0, 0.0, 1.0 | ||
| }; | ||
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| double position_vector[3] = {0.0, 0.0, 0.0}; | ||
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| There is an example usage of this in `../examples/cpp` | ||
| std::vector<ik_geo::Solution> solutions; | ||
| robot.ik(rotation_matrix, position_vector, solutions); | ||
| } | ||
| ``` | ||
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| ## To do | ||
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| - Test Windows implementation | ||
| - Create a GitHub workflow for generating the dist files | ||
| - Create a moveit package | ||
| - Add a wrapper for forward kinematics and allow for calculating error. | ||
| - Test Windows implementation | ||
| - Create a moveit package |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,31 +1,41 @@ | ||
| #include <iostream> | ||
| #include "ik_geo.h" | ||
| #include <array> | ||
| #include <iostream> | ||
| #include <vector> | ||
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| using namespace ik_geo; | ||
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| int main(int argc, char const *argv[]) | ||
| { | ||
| Robot robot = Robot::ur5(); | ||
| // Create identity matrix | ||
| double rotation_matrix[9] = { | ||
| 1.0, 0.0, 0.0, | ||
| 0.0, 1.0, 0.0, | ||
| 0.0, 0.0, 1.0 | ||
| }; | ||
| int main(int argc, char const *argv[]) { | ||
| Robot robot = Robot::ur5(); | ||
| double rotation_matrix[9] = {1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0}; | ||
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| double position_vector[3] = {0.5, 0.5, 0.0}; | ||
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| double position_vector[3] = {0.0, 0.0, 0.0}; | ||
| std::vector<ik_geo::Solution> solutions; | ||
| robot.ik(rotation_matrix, position_vector, solutions); | ||
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| std::vector<ik_geo::Solution> solutions; | ||
| robot.ik(rotation_matrix, position_vector, solutions); | ||
| for (auto &solution : solutions) { | ||
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| for (auto &solution : solutions) { | ||
| std::cout << "Solution: "; | ||
| for (size_t i = 0; i < 6; i++) { | ||
| std::cout << solution.q[i] << " "; | ||
| } | ||
| std::cout << "Is LS: " << solution.is_ls << std::endl; | ||
| std::cout << "Solution: "; | ||
| for (std::size_t i = 0; i < 6; i++) { | ||
| std::cout << solution.q[i] << " "; | ||
| } | ||
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| std::array<double, 9> rotation_matrix; | ||
| std::array<double, 3> position_vector; | ||
| robot.fk(solution.q, rotation_matrix, position_vector); | ||
| std::cout << "Is LS: " << (solution.is_ls ? "True" : "False") << std::endl; | ||
| std::cout << "Rotation Matrix: " << std::endl; | ||
| for (std::size_t i = 0; i < 3; i++) { | ||
| for (std::size_t j = 0; j < 3; j++) | ||
| std::cout << rotation_matrix[i * 3 + j] << " "; | ||
| std::cout << std::endl; | ||
| } | ||
| std::cout << "Position Vector: " << std::endl; | ||
| for (std::size_t i = 0; i < 3; i++) { | ||
| std::cout << position_vector[i] << " "; | ||
| } | ||
| return 0; | ||
| std::cout << std::endl; | ||
| } | ||
| return 0; | ||
| } |
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