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[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz #568

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[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz #568

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c3603fe
[irtgeo.l] enable :rotation-axis :xy :yz :zx :yx :zy :xz
Naoki-Hiraoka May 24, 2020
85c060d
[irtgeo.l] fix documentation of :difference-position and :difference-…
Naoki-Hiraoka May 25, 2020
815f8b4
[iregeo.l :difference-rotation] use let, and fix 0 norm condition
Naoki-Hiraoka May 25, 2020
85d63f9
[doc/irtmodel.tex]add document for translation/rotation-axis
Naoki-Hiraoka May 26, 2020
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5 changes: 3 additions & 2 deletions doc/irtmodel.tex
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Original file line number Diff line number Diff line change
Expand Up @@ -1605,8 +1605,9 @@ \subsubsection{三軸関節ロボットを使ったヤコビアン，逆運動
う場合の例を示す．ここでは，\verb|:calc-jacobian-from-link-list|のオプ
ショナル引数として\verb|:rotation-axis|, \verb|:translation-axis|
があり，それぞれ位置，姿勢での拘束条件を示す．
\verb|t|は三軸拘束，\verb|nil|は拘束なし，その他に\verb|:x|,
\verb|:y|, \verb|:z|を指定することができる．
\verb|t|は三軸拘束，\verb|nil|は拘束なしを示し，その他に拘束なしの軸を
エンドエフェクタの座標系で\verb|:x|, \verb|:y|, \verb|:z|, \verb|:xy|,
\verb|:yz|, \verb|:zx|と指定することができる．

{\baselineskip=10pt
\begin{verbatim}
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20 changes: 18 additions & 2 deletions irteus/irtgeo.l
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Expand Up @@ -55,7 +55,7 @@
)
(:difference-position
(coords &key (translation-axis t))
"return difference in position of given coords, translation-axis can take (:x, :y, :z, :xy, :yz, :zx)."
"return difference in position of given coords, translation-axis can take (:x, :y, :z, :xy, :yz, :zx, :yx, :zy, :xz)."
(let ((dif-pos
(send self :inverse-transform-vector (send coords :worldpos))))
(case
Expand All @@ -69,7 +69,7 @@
dif-pos))
(:difference-rotation
(coords &key (rotation-axis t))
"return difference in rotation of given coords, rotation-axis can take (:x, :y, :z, :xx, :yy, :zz, :xm, :ym, :zm)"
"return difference in rotation of given coords, rotation-axis can take (:x, :y, :z, :xy, :yz, :zx, :yx, :zy, :xz, :xx, :yy, :zz, :xm, :ym, :zm)"
(labels
((need-mirror-for-nearest-axis
(coords0 coords1 axis)
Expand All @@ -88,6 +88,22 @@
(setq dif-rot
(transform (transpose (send self :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1))))))
((:xy :yx :yz :zy :zx :xz)
(let ((ax1 (case rotation-axis ((:xy :yx) :z) ((:yz :zy) :x) ((:zx :xz) :y)))
(ax2 (case rotation-axis ((:xy :yx) :x) ((:yz :zy) :y) ((:zx :xz) :z))))
(setq a0 (send self :axis ax1)
a1 (send coords :axis ax1))
(setq dif-rot
(transform (transpose (send self :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1)))))
(let ((self-coords (if (= 0.0 (norm dif-rot))
self
(send (send self :copy-worldcoords) :rotate (norm dif-rot) (normalize-vector dif-rot)))))
(setq a0 (send self-coords :axis ax2)
a1 (send coords :axis ax2))
(setq dif-rot
(transform (transpose (send self-coords :worldrot))
(scale (acos (v. a0 a1)) (normalize-vector (v* a0 a1))))))))
((:xx :yy :zz)
(let ((axis (case rotation-axis (:xx :x) (:yy :y) (:zz :z))) a0 a2)
(setq a0 (send self :axis axis))
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