Verdant-Evolution · Sep 3, 2024 · Nov 18, 2024 · Dec 3, 2024
Showing with 19 additions and 23 deletions.

0 .gitignore

0 .gitmodules

+1 −1 CMakeLists.txt

0 README.md

0 example/CMakeLists.txt

+3 −3 example/src/main.cpp

+15 −19 include/ik_geo.h

0 rust-wrapper/Cargo.lock

0 rust-wrapper/Cargo.toml

0 rust-wrapper/src/lib.rs
diff --git a/.gitignore b/.gitignore
diff --git a/.gitmodules b/.gitmodules
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -23,7 +23,7 @@ ExternalProject_Add(
 set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR})
 
-add_library(ik_geo INTERFACE include/ik_geo.h)
+add_library(ik_geo INTERFACE)
 add_dependencies(ik_geo ik_geo_lib)
 target_include_directories(ik_geo INTERFACE include)
 

diff --git a/README.md b/README.md
diff --git a/example/CMakeLists.txt b/example/CMakeLists.txt
diff --git a/example/src/main.cpp b/example/src/main.cpp
@@ -1,8 +1,9 @@
-#include "ik_geo.h"
 #include <array>
 #include <iostream>
 #include <vector>
 
+#include "ik_geo.h"
+
 using namespace ik_geo;
 
 int main(int argc, char const *argv[]) {
@@ -27,8 +28,7 @@ int main(int argc, char const *argv[]) {
     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] << " ";
+      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;

diff --git a/include/ik_geo.h b/include/ik_geo.h
@@ -1,3 +1,4 @@
+#pragma once
 
 #include <array>
 #include <vector>
@@ -8,10 +9,13 @@ extern "C" {
 struct Robot;
 void deallocate(Robot *robot);
 Robot *gen_six_dof(const double *h, const double *p);
-void ik(const Robot *robot, const double *rotation, const double *translation,
-        std::size_t *n_solutions, double *qs, bool *is_ls);
-void fk(const Robot *robot, const double *qs, double *rot_matrix,
-        double *pos_vector);
+void ik(const Robot *robot,
+        const double *rotation,
+        const double *translation,
+        std::size_t *n_solutions,
+        double *qs,
+        bool *is_ls);
+void fk(const Robot *robot, const double *qs, double *rot_matrix, double *pos_vector);
 Robot *irb6640();
 Robot *spherical(const double *h, const double *p);
 Robot *spherical_bot();
@@ -40,37 +44,30 @@ class Robot {
 
 public:
   ~Robot() { lib::deallocate(robot); }
+  static Robot gen_six_dof(const double *h, const double *p) { return Robot(lib::gen_six_dof(h, p)); }
   static Robot irb66400() { return Robot(lib::irb6640()); }
   static Robot spherical_bot() { return Robot(lib::spherical_bot()); }
   static Robot three_parallel_bot() { return Robot(lib::three_parallel_bot()); }
   static Robot ur5() { return Robot(lib::ur5()); }
-  static Robot spherical(const double *h, const double *p) {
-    return Robot(lib::spherical(h, p));
-  }
+  static Robot spherical(const double *h, const double *p) { return Robot(lib::spherical(h, p)); }
   static Robot spherical_two_intersecting(const double *h, const double *p) {
     return Robot(lib::spherical_two_intersecting(h, p));
   }
   static Robot spherical_two_parallel(const double *h, const double *p) {
     return Robot(lib::spherical_two_parallel(h, p));
   }
-  static Robot three_parallel(const double *h, const double *p) {
-    return Robot(lib::three_parallel(h, p));
-  }
-  static Robot three_parallel_two_intersecting(const double *h,
-                                               const double *p) {
+  static Robot three_parallel(const double *h, const double *p) { return Robot(lib::three_parallel(h, p)); }
+  static Robot three_parallel_two_intersecting(const double *h, const double *p) {
     return Robot(lib::three_parallel_two_intersecting(h, p));
   }
-  static Robot two_intersecting(const double *h, const double *p) {
-    return Robot(lib::two_intersecting(h, p));
-  }
+  static Robot two_intersecting(const double *h, const double *p) { return Robot(lib::two_intersecting(h, p)); }
 
   /// @brief
   /// @param rotation - Row-major 3x3 rotation matrix
   /// @param translation - 3D translation vector
   /// @param solutions - Vector of all found solutions and whether or not they
   /// are exact.
-  void ik(const double *rotation, const double *translation,
-          std::vector<Solution> &solutions) {
+  void ik(const double *rotation, const double *translation, std::vector<Solution> &solutions) {
     const std::size_t MAX_SOLUTIONS = 16;
     double qs[6 * MAX_SOLUTIONS];
     bool is_ls[MAX_SOLUTIONS];
@@ -88,8 +85,7 @@ class Robot {
     }
   }
 
-  void fk(const std::array<double, 6> &q, std::array<double, 9> &rotation,
-          std::array<double, 3> &translation) {
+  void fk(const std::array<double, 6> &q, std::array<double, 9> &rotation, std::array<double, 3> &translation) {
     lib::fk(robot, q.data(), rotation.data(), translation.data());
   }
 };

diff --git a/rust-wrapper/Cargo.lock b/rust-wrapper/Cargo.lock
diff --git a/rust-wrapper/Cargo.toml b/rust-wrapper/Cargo.toml
diff --git a/rust-wrapper/src/lib.rs b/rust-wrapper/src/lib.rs