Composite_Control/Composite_Control_VCX.h Source File

1 [[PREPROC_HEADER_GUARD_BEGIN]]
2 
3 #include "HC_API.h"
4 #include "Composite_Control/Composite_Control.h"
5 
6 namespace ControlAPI {
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8 
9 
10 
11  class VCXFramingInternals;
12 
17  class HC_API VCXFraming : public CompositeFrameBase {
18  public:
19  HC_CLASS_META(VCXFraming)
25  Vector3D chartCenter__MechanicalOriginFrame = {0, 1157.1, 491};
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27 
33  Vector3D home__MechanicalOriginFrame = {0, 904.8, 1978 };
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35 
36 
40  Vector3D camera_MountBaseFrame = {0, 24.1, -152.4};
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42 
43 
44 
45 
47  Vector3D mountBase_MechanicalOriginFrame;
48 
50  float mountBase_Omega_MechanicalOriginFrame;
51 
55  Vector3D camera_MechanicalOriginFrame;
56 
60  Vector3D camera_ChartCenterFrame;
61 
65  std::string zaberPort;
66 
67 
71  std::string liftingColumnPort;
72 
73  #ifdef HC_API_MACRO_EXCLUDE_DOCS
74  std::shared_ptr<VCXFramingInternals> internals;
75  #endif
76 
77  void initialize(ControlSystem* system);
78 
79 
80  void mountBase_GoTo_Home();
81 
82 
83  void mountBase_Go_MechanicalOriginFrame(const Vector3D& mechSpace, float omega);
84 
85 
86  void mountBase_Go_ChartCenterFrame(const Vector3D& chartSpace, float omega);
87 
88 
89  void mountBase_Go_HomeFrame(const Vector3D& displacement, float omega);
90 
91 
92 
93 
94 
98  Vector3D chartCenterFrame_To_MechanicalOriginFrame(Vector3D chartCenterSpace);
99 
103  Vector3D targetMountHomeFrame_To_MechanicaOriginFrame(Vector3D homeSpace);
104 
108  Vector3D mechanicalOriginFrame_To_HomeFrame(Vector3D mechanicalSpace);
109 
110 
116  Vector3D mountBaseFrame_To_MechanicalOriginFrame(Vector3D mountbaseSpace);
117 
118 
119  };
120 
121 
122 
123 }
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125 
126 [[PREPROC_HEADER_GUARD_END]]