package com.cmvr.edge.client.model.arm;

import com.cmvr.edge.client.model.EdgeCommonVO;
import io.swagger.annotations.ApiModel;
import io.swagger.annotations.ApiModelProperty;
import lombok.Data;
import lombok.EqualsAndHashCode;

/**
 * 机械臂正向运动学计算VO
 *
 * @author cmvr-iot
 * @since 2026-07-01
 */
@Data
@EqualsAndHashCode(callSuper = true)
@ApiModel("机械臂正向运动学计算参数")
public class EdgeArmForwardKinematicsVO extends EdgeCommonVO {

    @ApiModelProperty(value = "关节位置数组（6个关节角度，单位：弧度）", required = true)
    private double[] joints;

    @ApiModelProperty("基座连杆名称")
    private String baseLink;

    @ApiModelProperty("末端执行器连杆名称")
    private String eeLink;
}
