1  /********************************************************************
  2  * Description: tc.h
  3  *   Discriminate-based trajectory planning
  4  *
  5  *   Derived from a work by Fred Proctor & Will Shackleford
  6  *
  7  * Author:
  8  * License: GPL Version 2
  9  * System: Linux
 10  *    
 11  * Copyright (c) 2004 All rights reserved.
 12  *
 13  * Last change:
 14  ********************************************************************/
 15  #ifndef TC_H
 16  #define TC_H
 17  
 18  #include "spherical_arc.h"
 19  #include "posemath.h"
 20  #include "emcpos.h"
 21  #include "emcmotcfg.h"
 22  #include "tc_types.h"
 23  #include "tp_types.h"
 24  
 25  double tcGetMaxTargetVel(TC_STRUCT const * const tc,
 26          double max_scale);
 27  
 28  double tcGetOverallMaxAccel(TC_STRUCT const * tc);
 29  double tcGetTangentialMaxAccel(TC_STRUCT const * const tc);
 30  
 31  int tcSetKinkProperties(TC_STRUCT *prev_tc, TC_STRUCT *tc, double kink_vel, double accel_reduction);
 32  int tcInitKinkProperties(TC_STRUCT *tc);
 33  int tcRemoveKinkProperties(TC_STRUCT *prev_tc, TC_STRUCT *tc);
 34  int tcGetEndpoint(TC_STRUCT const * const tc, EmcPose * const out);
 35  int tcGetStartpoint(TC_STRUCT const * const tc, EmcPose * const out);
 36  int tcGetPos(TC_STRUCT const * const tc,  EmcPose * const out);
 37  int tcGetPosReal(TC_STRUCT const * const tc, int of_endpoint,  EmcPose * const out);
 38  int tcGetEndAccelUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
 39  int tcGetStartAccelUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
 40  int tcGetEndTangentUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
 41  int tcGetStartTangentUnitVector(TC_STRUCT const * const tc, PmCartesian * const out);
 42  
 43  double tcGetDistanceToGo(TC_STRUCT const * const tc, int direction);
 44  double tcGetTarget(TC_STRUCT const * const tc, int direction);
 45  
 46  int tcGetIntersectionPoint(TC_STRUCT const * const prev_tc,
 47          TC_STRUCT const * const tc, PmCartesian * const point);
 48  
 49  int tcCanConsume(TC_STRUCT const * const tc);
 50  
 51  int tcSetTermCond(TC_STRUCT * prev_tc, TC_STRUCT * tc, int term_cond);
 52  
 53  int tcConnectBlendArc(TC_STRUCT * const prev_tc, TC_STRUCT * const tc,
 54          PmCartesian const * const circ_start,
 55          PmCartesian const * const circ_end);
 56  
 57  int tcIsBlending(TC_STRUCT * const tc);
 58  
 59  
 60  int tcFindBlendTolerance(TC_STRUCT const * const prev_tc,
 61          TC_STRUCT const * const tc, double * const T_blend, double * const nominal_tolerance);
 62  
 63  int pmCircleTangentVector(PmCircle const * const circle,
 64          double angle_in, PmCartesian * const out);
 65  
 66  int tcFlagEarlyStop(TC_STRUCT * const tc,
 67          TC_STRUCT * const nexttc);
 68  
 69  double pmLine9Target(PmLine9 * const line9);
 70  
 71  int pmLine9Init(PmLine9 * const line9,
 72          EmcPose const * const start,
 73          EmcPose const * const end);
 74  
 75  double pmCircle9Target(PmCircle9 const * const circ9);
 76  
 77  int pmCircle9Init(PmCircle9 * const circ9,
 78          EmcPose const * const start,
 79          EmcPose const * const end,
 80          PmCartesian const * const center,
 81          PmCartesian const * const normal,
 82          int turn);
 83  
 84  int pmRigidTapInit(PmRigidTap * const tap,
 85          EmcPose const * const start,
 86          EmcPose const * const end,
 87          double reversal_scale);
 88  
 89  double pmRigidTapTarget(PmRigidTap * const tap, double uu_per_rev);
 90  
 91  int tcInit(TC_STRUCT * const tc,
 92          int motion_type,
 93          int canon_motion_type,
 94          double cycle_time,
 95          unsigned char enables,
 96          char atspeed);
 97  
 98  int tcSetupFromTP(TC_STRUCT * const tc, TP_STRUCT const * const tp);
 99  
100  int tcSetupMotion(TC_STRUCT * const tc,
101          double vel,
102          double ini_maxvel,
103          double acc);
104  
105  int tcSetupState(TC_STRUCT * const tc, TP_STRUCT const * const tp);
106  
107  int tcUpdateCircleAccRatio(TC_STRUCT * tc);
108  
109  int tcFinalizeLength(TC_STRUCT * const tc);
110  
111  int tcClampVelocityByLength(TC_STRUCT * const tc);
112  
113  int tcPureRotaryCheck(TC_STRUCT const * const tc);
114  
115  int tcSetCircleXYZ(TC_STRUCT * const tc, PmCircle const * const circ);
116  
117  int tcClearFlags(TC_STRUCT * const tc);
118  #endif				/* TC_H */