ForwardKinematics.h
#pragma once
namespace Core
{
ref class Link;
typedef array< Robotics::Angle > Angles;
typedef array< Link^ > Links;
typedef System::Collections::Generic::List< Link^ > LinkList;
/// 順運動学
public ref class ForwardKinematics
{
// Operation -----------------------------------------------------------
private:
void CalculateToEnd( Link^ target );
void CalculateToBody( Link^ target, Link^ lowerLink );
// static
public:
static void CalculatePositionAndPostureOfLinks( Links^ links, Angles^ angles );
static void CalculatePositionAndPostureOfLinks( Link^ targetLink );
// Attribute ===========================================================
private:
LinkList^ m_routeOfLinks; ///< リンクの経路
// static
literal double Tolerance = 1.0E-8; ///< 許容誤差
};
}