Merge pull request #215 from ROBOTIS-GIT/hotfix

om friends missing libraries added

arduino/opencr_arduino/opencr/libraries/OpenManipulator/src/delta_libs.h

@@ -0,0 +1 @@
+#include "delta_libs/include/delta_libs/delta.h"

arduino/opencr_arduino/opencr/libraries/OpenManipulator/src/delta_libs/include/delta_libs/delta.h

@@ -0,0 +1,74 @@
+/*******************************************************************************
+* Copyright 2018 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */
+
+#ifndef DELTA_H_
+#define DELTA_H_
+
+#include "delta_custom_trajectory.h"
+#include "delta_dynamixel.h"
+#include "delta_kinematics.h"
+
+#define CUSTOM_TRAJECTORY_SIZE 4
+#define CUSTOM_TRAJECTORY_LINE    "custom_trajectory_line"
+#define CUSTOM_TRAJECTORY_CIRCLE  "custom_trajectory_circle"
+#define CUSTOM_TRAJECTORY_RHOMBUS "custom_trajectory_rhombus"
+#define CUSTOM_TRAJECTORY_HEART   "custom_trajectory_heart"
+
+#define DXL_SIZE 3
+#define JOINT_DYNAMIXEL "joint_dxl"
+
+#define RECEIVE_RATE 0.100 // unit: s
+#define CONTROL_RATE 0.010 // unit: s
+
+#define X_AXIS robotis_manipulator::math::vector3(1.0, 0.0, 0.0)
+#define Y_AXIS robotis_manipulator::math::vector3(0.0, 1.0, 0.0)
+#define Z_AXIS robotis_manipulator::math::vector3(0.0, 0.0, 1.0)
+
+class Delta : public robotis_manipulator::RobotisManipulator
+{
+private:
+  robotis_manipulator::Kinematics *kinematics_;
+  robotis_manipulator::JointActuator *joint_;
+  robotis_manipulator::ToolActuator *tool_;
+  robotis_manipulator::CustomTaskTrajectory *custom_trajectory_[CUSTOM_TRAJECTORY_SIZE];
+
+  bool using_actual_robot_state_;
+  bool receive_data_flag_ = false;
+  double prev_receive_time_ = 0.0;
+  double prev_control_time_ = 0.0;
+
+public:
+  Delta();
+  virtual ~Delta();
+
+  void initDebug();
+  void initOpenManipulator(bool using_actual_robot_state, 
+                           STRING usb_port = "/dev/ttyUSB0", 
+                           STRING baud_rate = "1000000", 
+                           float control_rate = CONTROL_RATE);
+  void processOpenManipulator(double present_time);
+
+  bool getUsingActualRobotState();
+  bool getReceiveDataFlag();
+  double getPrevReceiveTime();
+
+  void setReceiveDataFlag(bool receive_data_flag);
+  void setPrevReceiveTime(double prev_receive_time);
+};
+
+#endif // Delta_H_

arduino/opencr_arduino/opencr/libraries/OpenManipulator/src/delta_libs/include/delta_libs/delta_custom_trajectory.h

@@ -0,0 +1,158 @@
+/*******************************************************************************
+* Copyright 2018 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/* Authors: Darby Lim, Hye-Jong KIM, Ryan Shim, Yong-Ho Na */
+
+#ifndef SCARA_CUSTOM_TRAJECTORY_H_
+#define SCARA_CUSTOM_TRAJECTORY_H_
+
+#if defined(__OPENCR__)
+  #include <RobotisManipulator.h>
+#else
+  #include <robotis_manipulator/robotis_manipulator.h>
+#endif
+
+using namespace robotis_manipulator;
+using namespace Eigen;
+
+namespace delta_custom_trajectory
+{
+
+enum AXIS{
+	X_AXIS,
+	Y_AXIS,
+	Z_AXIS,
+};
+
+/*****************************************************************************
+** Line
+*****************************************************************************/
+class Line : public robotis_manipulator::CustomTaskTrajectory
+{
+private:
+  TaskWaypoint start_pose_;
+  TaskWaypoint goal_pose_;
+
+  double acc_dec_time_;
+  double move_time_;
+  std::vector<double> vel_max_;
+
+public:
+	Line() {}
+	virtual ~Line() {}
+
+  void initLine(double move_time, TaskWaypoint start, TaskWaypoint delta);
+  TaskWaypoint drawLine(double time_var);
+
+  virtual void setOption(const void *arg);
+  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
+  virtual TaskWaypoint getTaskWaypoint(double tick);
+};
+
+
+/*****************************************************************************
+** Circle
+*****************************************************************************/
+class Circle : public robotis_manipulator::CustomTaskTrajectory
+{
+private:
+  robotis_manipulator::MinimumJerk path_generator_;
+  VectorXd coefficient_;
+
+  TaskWaypoint start_pose_;
+  TaskWaypoint goal_pose_;
+
+  double radius_;
+  double start_angular_position_;
+  double revolution_;
+
+public:
+	Circle() {}
+	virtual ~Circle() {}
+
+  void initCircle(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
+  TaskWaypoint drawCircle(double time_var);
+
+  virtual void setOption(const void *arg);
+  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
+  virtual TaskWaypoint getTaskWaypoint(double tick);
+};
+
+
+/*****************************************************************************
+** Rhombus
+*****************************************************************************/
+class Rhombus : public robotis_manipulator::CustomTaskTrajectory
+{
+private:
+  robotis_manipulator::MinimumJerk path_generator_;
+  VectorXd coefficient_;
+
+  TaskWaypoint start_pose_;
+  TaskWaypoint goal_pose_;
+
+  double radius_;
+  double start_angular_position_;
+  double revolution_;
+
+public:
+	Rhombus() {}
+	virtual ~Rhombus() {}
+
+  void initRhombus(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
+  TaskWaypoint drawRhombus(double time_var);
+
+  virtual void setOption(const void *arg);
+  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
+  virtual TaskWaypoint getTaskWaypoint(double tick);
+};
+
+
+/*****************************************************************************
+** Heart
+*****************************************************************************/
+class Heart : public robotis_manipulator::CustomTaskTrajectory
+{
+private:
+  robotis_manipulator::MinimumJerk path_generator_;
+  VectorXd coefficient_;
+
+  TaskWaypoint start_pose_;
+  TaskWaypoint goal_pose_;
+
+  double radius_;
+  double start_angular_position_;
+  double revolution_;
+
+public:
+	Heart() {}
+	virtual ~Heart() {}
+
+  void initHeart(double move_time, TaskWaypoint start, double radius, double revolution, double start_angular_position);
+  TaskWaypoint drawHeart(double tick);
+
+  virtual void setOption(const void *arg);
+  virtual void makeTaskTrajectory(double move_time, TaskWaypoint start, const void *arg);
+  virtual TaskWaypoint getTaskWaypoint(double tick);
+};
+
+
+} // namespace delta_custom_trajectory
+#endif // DELTA_CUSTOM_TRAJECTORY_H_
+
+
+
+