/// <summary>
/// Get the joints list of Cylindical Robot
/// </summary>
/// <param name="l1">z offset</param>
/// <param name="l2">z offset</param>
/// <param name="l3">radius offset</param>
/// <returns></returns>
public static List <IJoint> GetCylindical(double l1, double l2, double l3)
{
RotationJoint phi = new RotationJoint
{
Length = l1,
TransformAxis = TransformType.RotateZ
};
TranslationJoint h = new TranslationJoint
{
Length = l2,
TransformAxis = TransformType.AxisZ
};
// Just assume the initial state of this joint is pointing to Y axis
TranslationJoint r = new TranslationJoint
{
Length = l3,
TransformAxis = TransformType.AxisY
};
List <IJoint> joints = new List <IJoint>
{
phi,
h,
r
};
return(joints);
}
/// <summary>
/// Get a configuration of Spherical robot
/// </summary>
/// <param name="l1"></param>
/// <param name="l2"></param>
/// <param name="l3"></param>
/// <returns></returns>
public static List <IJoint> GetSpherical(double l1, double l2, double l3)
{
RotationJoint phi = new RotationJoint
{
Length = l1,
TransformAxis = TransformType.RotateZ
};
RotationJoint theta = new RotationJoint
{
Length = l2,
TransformAxis = TransformType.RotateX
};
TranslationJoint r = new TranslationJoint
{
Length = l3,
TransformAxis = TransformType.AxisZ
};
return(new List <IJoint>
{
phi,
theta,
r
});
}
public static List <IJoint> GetArticulated(double l1, double l2, double l3)
{
RotationJoint th1 = new RotationJoint
{
Length = l1,
TransformAxis = TransformType.RotateZ
};
RotationJoint th2 = new RotationJoint
{
Length = l2,
TransformAxis = TransformType.RotateX
};
RotationJoint th3 = new RotationJoint
{
Length = l3,
TransformAxis = TransformType.RotateX
};
return(new List <IJoint>
{
th1,
th2,
th3
});
}
public static List <IJoint> Get6DOFRobot(params double[] link)
{
if (link.Count() != 6)
{
throw new ArgumentException("6 DoF Robot should have 6 links", "link");
}
RotationJoint th1 = new RotationJoint
{
Length = link[0],
TransformAxis = TransformType.RotateZ
};
RotationJoint th2 = new RotationJoint
{
Length = link[1],
TransformAxis = TransformType.RotateY
};
RotationJoint th3 = new RotationJoint
{
Length = link[2],
TransformAxis = TransformType.RotateY
};
RotationJoint th4 = new RotationJoint
{
Length = link[3],
TransformAxis = TransformType.RotateZ
};
RotationJoint th5 = new RotationJoint
{
Length = link[4],
TransformAxis = TransformType.RotateY
};
RotationJoint th6 = new RotationJoint
{
Length = link[5],
TransformAxis = TransformType.RotateZ
};
return(new List <IJoint> {
th1, th2, th3, th4, th5, th6
});
}
