54 lines
2.8 KiB
C
54 lines
2.8 KiB
C
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#ifndef AUBO_SDK_Math_C_H
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#define AUBO_SDK_Math_C_H
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#include <aubo_sdk/type_def_c.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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ARCS_ABI int poseAdd(MATH_HANDLER h, const double *p1, const double *p2,
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double *result);
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ARCS_ABI int poseSub(MATH_HANDLER h, const double *p1, const double *p2,
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double *result);
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ARCS_ABI int interpolatePose(MATH_HANDLER h, const double *p1, const double *p2,
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double alpha, double *result);
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ARCS_ABI int poseTrans(MATH_HANDLER h, const double *pose_from,
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const double *pose_from_to, double *result);
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ARCS_ABI int poseTransInv(MATH_HANDLER h, const double *pose_from,
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const double *pose_to_from, double *result);
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ARCS_ABI int poseInverse(MATH_HANDLER h, const double *pose, double *result);
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ARCS_ABI double poseDistance(MATH_HANDLER h, const double *p1,
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const double *p2);
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ARCS_ABI double poseAngleDistance(MATH_HANDLER h, const double *p1,
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const double *p2);
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ARCS_ABI BOOL poseEqual(MATH_HANDLER h, const double *p1, const double *p2,
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double eps);
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ARCS_ABI int transferRefFrame(MATH_HANDLER h, const double *F_b_a_old,
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Vector3d_C V_in_a, int type, double *result);
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ARCS_ABI int poseRotation(MATH_HANDLER h, const double *pose,
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const double *rotv, double *result);
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ARCS_ABI int rpyToQuaternion(MATH_HANDLER h, const double *rpy, double *result);
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ARCS_ABI int quaternionToRpy(MATH_HANDLER h, const double *quant,
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double *result);
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ARCS_ABI int tcpOffsetIdentify(MATH_HANDLER h, const double *poses, int rows,
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double *result);
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ARCS_ABI int calibrateCoordinate(MATH_HANDLER h, const double *poses, int rows,
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int type, double *result);
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ARCS_ABI int calculateCircleFourthPoint(MATH_HANDLER h, const double *p1,
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const double *p2, const double *p3,
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int mode, double *result);
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ARCS_ABI int forceTrans(MATH_HANDLER h, const double *pose_a_in_b,
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const double *force_in_a, double *result);
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ARCS_ABI int getDeltaPoseBySensorDistance(MATH_HANDLER h,
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const double *distances,
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double position, double radius,
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double track_scale, double *result);
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ARCS_ABI int deltaPoseTrans(MATH_HANDLER h, const double *pose_a_in_b,
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const double *ft_in_a, double *result);
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ARCS_ABI int deltaPoseAdd(MATH_HANDLER h, const double *pose_a_in_b,
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const double *v_in_b, double *result);
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#ifdef __cplusplus
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}
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#endif
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#endif
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