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🎋 Updates kinematics with modifiers

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This commit is contained in:
Rune Harlyk
2025-03-23 16:24:26 +01:00
parent fdf70f7eb8
commit 6b7e3281cf
1 changed files with 18 additions and 36 deletions
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esp32/lib/ESP32-sveltekit/kinematics.h
+18 -36
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@@ -9,7 +9,7 @@ struct body_state_t {
void updateFeet(const float newFeet[4][4]) { COPY_2D_ARRAY_4x4(feet, newFeet); } void updateFeet(const float newFeet[4][4]) { COPY_2D_ARRAY_4x4(feet, newFeet); }
bool isEqual(const body_state_t &other) const { bool operator==(const body_state_t &other) const {
if (!IS_ALMOST_EQUAL(omega, other.omega) || !IS_ALMOST_EQUAL(phi, other.phi) || if (!IS_ALMOST_EQUAL(omega, other.omega) || !IS_ALMOST_EQUAL(phi, other.phi) ||
!IS_ALMOST_EQUAL(psi, other.psi) || !IS_ALMOST_EQUAL(xm, other.xm) || !IS_ALMOST_EQUAL(ym, other.ym) || !IS_ALMOST_EQUAL(psi, other.psi) || !IS_ALMOST_EQUAL(xm, other.xm) || !IS_ALMOST_EQUAL(ym, other.ym) ||
!IS_ALMOST_EQUAL(zm, other.zm)) { !IS_ALMOST_EQUAL(zm, other.zm)) {
@@ -21,50 +21,35 @@ struct body_state_t {
class Kinematics { class Kinematics {
private: private:
float Trb[4][4] = { static constexpr float l1 = 60.5f / 100.0f;
0, static constexpr float l2 = 10.0f / 100.0f;
}; static constexpr float l3 = 111.1f / 100.0f;
float Trf[4][4] = { static constexpr float l4 = 118.5f / 100.0f;
0,
};
float Tlb[4][4] = {
0,
};
float Tlf[4][4] = {
0,
};
const float Ix[4][4] = {{-1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}}; static constexpr float L = 207.5f / 100.0f;
float inv[4][4]; static constexpr float W = 78.0f / 100.0f;
float point[4];
float Q1[4][4];
const float sHp = sinf(PI_F / 2); const float sHp = sinf(PI_F / 2);
const float cHp = cosf(PI_F / 2); const float cHp = cosf(PI_F / 2);
float point_lf[4][4]; static constexpr float Ix[4][4] = {{-1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
float Trb[4][4] = {0};
float Trf[4][4] = {0};
float Tlb[4][4] = {0};
float Tlf[4][4] = {0};
float inv[4][4];
float point[4];
float Q1[4][4];
body_state_t currentState; body_state_t currentState;
public: public:
float l1, l2, l3, l4;
float L, W;
Kinematics() {
l1 = 60.5 / 100;
l2 = 10 / 100;
l3 = 111.1 / 100;
l4 = 118.5 / 100;
L = 207.5 / 100;
W = 78 / 100;
}
~Kinematics() {}
esp_err_t calculate_inverse_kinematics(const body_state_t body_state, float result[12]) { esp_err_t calculate_inverse_kinematics(const body_state_t body_state, float result[12]) {
esp_err_t ret = ESP_OK; esp_err_t ret = ESP_OK;
if (currentState.isEqual(body_state)) return ESP_OK; if (currentState == body_state) return ESP_OK;
ret = bodyIK(body_state); ret = bodyIK(body_state);
currentState.omega = body_state.omega; currentState.omega = body_state.omega;
@@ -112,11 +97,8 @@ class Kinematics {
{0, 0, 0, 1}}; {0, 0, 0, 1}};
float point_lf[4][4] = {{cHp, 0, sHp, L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, W / 2}, {0, 0, 0, 1}}; float point_lf[4][4] = {{cHp, 0, sHp, L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, W / 2}, {0, 0, 0, 1}};
float point_rf[4][4] = {{cHp, 0, sHp, L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, -W / 2}, {0, 0, 0, 1}}; float point_rf[4][4] = {{cHp, 0, sHp, L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, -W / 2}, {0, 0, 0, 1}};
float point_lb[4][4] = {{cHp, 0, sHp, -L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, W / 2}, {0, 0, 0, 1}}; float point_lb[4][4] = {{cHp, 0, sHp, -L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, W / 2}, {0, 0, 0, 1}};
float point_rb[4][4] = {{cHp, 0, sHp, -L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, -W / 2}, {0, 0, 0, 1}}; float point_rb[4][4] = {{cHp, 0, sHp, -L / 2}, {0, 1, 0, 0}, {-sHp, 0, cHp, -W / 2}, {0, 0, 0, 1}};
MAT_MULT(Tm, point_lf, Tlf, 4, 4, 4); MAT_MULT(Tm, point_lf, Tlf, 4, 4, 4);