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Florian Leander Singer
Simox
Commits
a6af796c
Commit
a6af796c
authored
2 years ago
by
Rainer Kartmann
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Add test code
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python/hemisphere-joint-demo/hemisphere_joint_demo/app/generate_cpp_expressions.py
+71
-1
71 additions, 1 deletion
...emo/hemisphere_joint_demo/app/generate_cpp_expressions.py
with
71 additions
and
1 deletion
python/hemisphere-joint-demo/hemisphere_joint_demo/app/generate_cpp_expressions.py
+
71
−
1
View file @
a6af796c
...
...
@@ -20,7 +20,60 @@ def fk_pos():
"""
ex
=
2
*
lever
*
(
lever
**
5
*
sin
(
theta0
)
-
lever
**
3
*
a1
*
a2
*
sin
(
theta0
)
-
lever
**
3
*
a2
**
2
*
sin
(
theta0
)
+
lever
*
a1
*
a2
**
3
*
sin
(
theta0
)
-
a2
*
sqrt
(
-
2
*
lever
**
8
*
sin
(
theta0
)
**
2
+
lever
**
8
+
2
*
lever
**
6
*
a1
**
2
*
sin
(
theta0
)
**
2
-
lever
**
6
*
a1
**
2
+
2
*
lever
**
6
*
a1
*
a2
*
sin
(
theta0
)
**
2
+
2
*
lever
**
6
*
a2
**
2
*
sin
(
theta0
)
**
2
-
lever
**
6
*
a2
**
2
-
2
*
lever
**
4
*
a1
**
3
*
a2
*
sin
(
theta0
)
**
2
-
2
*
lever
**
4
*
a1
**
2
*
a2
**
2
*
sin
(
theta0
)
**
2
-
2
*
lever
**
4
*
a1
*
a2
**
3
*
sin
(
theta0
)
**
2
+
lever
**
2
*
a1
**
4
*
a2
**
2
+
2
*
lever
**
2
*
a1
**
3
*
a2
**
3
*
sin
(
theta0
)
**
2
+
lever
**
2
*
a1
**
2
*
a2
**
4
-
a1
**
4
*
a2
**
4
))
*
sin
(
theta0
)
/
(
sqrt
(
lever
**
2
-
a2
**
2
)
*
(
lever
**
4
-
a1
**
2
*
a2
**
2
))
ey
=
2
*
lever
*
(
lever
**
5
*
sin
(
theta0
)
-
lever
**
3
*
a1
**
2
*
sin
(
theta0
)
-
lever
**
3
*
a1
*
a2
*
sin
(
theta0
)
+
lever
*
a1
**
3
*
a2
*
sin
(
theta0
)
-
a1
*
sqrt
(
-
2
*
lever
**
8
*
sin
(
theta0
)
**
2
+
lever
**
8
+
2
*
lever
**
6
*
a1
**
2
*
sin
(
theta0
)
**
2
-
lever
**
6
*
a1
**
2
+
2
*
lever
**
6
*
a1
*
a2
*
sin
(
theta0
)
**
2
+
2
*
lever
**
6
*
a2
**
2
*
sin
(
theta0
)
**
2
-
lever
**
6
*
a2
**
2
-
2
*
lever
**
4
*
a1
**
3
*
a2
*
sin
(
theta0
)
**
2
-
2
*
lever
**
4
*
a1
**
2
*
a2
**
2
*
sin
(
theta0
)
**
2
-
2
*
lever
**
4
*
a1
*
a2
**
3
*
sin
(
theta0
)
**
2
+
lever
**
2
*
a1
**
4
*
a2
**
2
+
2
*
lever
**
2
*
a1
**
3
*
a2
**
3
*
sin
(
theta0
)
**
2
+
lever
**
2
*
a1
**
2
*
a2
**
4
-
a1
**
4
*
a2
**
4
))
*
sin
(
theta0
)
/
(
sqrt
(
lever
**
2
-
a1
**
2
)
*
(
lever
**
4
-
a1
**
2
*
a2
**
2
))
ez
=
2
*
lever
*
(
lever
*
(
lever
**
4
-
a1
**
2
*
a2
**
2
)
*
(
a1
+
a2
)
*
sin
(
theta0
)
+
(
lever
**
2
+
a1
*
a2
)
*
sqrt
(
lever
**
2
*
(
lever
**
2
*
a1
+
lever
**
2
*
a2
-
a1
**
2
*
a2
-
a1
*
a2
**
2
)
**
2
*
sin
(
theta0
)
**
2
+
(
-
lever
**
4
+
a1
**
2
*
a2
**
2
)
*
(
-
2
*
lever
**
4
*
cos
(
theta0
)
**
2
+
lever
**
4
+
lever
**
2
*
a1
**
2
*
cos
(
theta0
)
**
2
+
lever
**
2
*
a2
**
2
*
cos
(
theta0
)
**
2
-
a1
**
2
*
a2
**
2
)))
*
sin
(
theta0
)
/
((
lever
**
2
+
a1
*
a2
)
*
(
lever
**
4
-
a1
**
2
*
a2
**
2
))
ez
=
(
2
*
lever
*
(
lever
*
(
lever
**
4
-
a1
**
2
*
a2
**
2
)
*
(
a1
+
a2
)
*
sin
(
theta0
)
+
(
# _a1_m_a2_a_lever_p_2
lever
**
2
# _lever_p_2
+
a1
*
a2
# _a1_m_a2
)
*
sqrt
(
lever
**
2
*
(
lever
**
2
*
a1
+
lever
**
2
*
a2
-
a1
**
2
*
a2
-
a1
*
a2
**
2
)
**
2
*
sin
(
theta0
)
**
2
+
(
-
lever
**
4
+
a1
**
2
*
a2
**
2
)
*
(
-
2
*
lever
**
4
*
cos
(
theta0
)
**
2
+
lever
**
4
+
lever
**
2
*
a1
**
2
*
cos
(
theta0
)
**
2
+
lever
**
2
*
a2
**
2
*
cos
(
theta0
)
**
2
-
a1
**
2
*
a2
**
2
)
)
)
*
sin
(
theta0
)
# _sin_l_theta0_r_
/
(
(
# _1_d__l_a1_m_a2_a_lever_p_2_r_
lever
**
2
+
a1
*
a2
)
*
(
# _1_d__l__s_a1_p_2_m_a2_p_2_a_lever_p_4_r_
lever
**
4
-
a1
**
2
*
a2
**
2
)
)
)
return
dict
(
ex
=
ex
,
ey
=
ey
,
ez
=
ez
,)
...
...
@@ -136,3 +189,20 @@ if not test_mode and __name__ == '__main__':
print
(
cpp
.
write_lines
(
source_lines
,
source_path
))
print
(
"
Done.
"
)
if
test_mode
and
__name__
==
'
__main__
'
:
import
numpy
as
np
from
numpy
import
sin
,
cos
,
sqrt
lever
=
1
theta0
=
np
.
deg2rad
(
25
)
actuator_offset
=
np
.
arcsin
(
theta0
)
a
=
np
.
array
([
0.
,
0.
])
a
=
a
+
actuator_offset
a1
,
a2
=
a
pos
=
fk_pos
()
print
(
pos
)
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