Composite_Control/Composite_Control_VCX.h Source File

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#include "HC_API.h"
#include "Composite_Control/Composite_Control.h"
 
namespace ControlAPI {
    
 
 
 
    class VCXFramingInternals;
 
    class HC_API VCXFraming : public CompositeFrameBase {
    public:
        HC_CLASS_META(VCXFraming)
        Vector3D chartCenter__MechanicalOriginFrame = {0, 1157.1, 491};
 
 
        Vector3D home__MechanicalOriginFrame = {0, 904.8, 1978 };
 
 
 
        Vector3D camera_MountBaseFrame = {0, 24.1, -152.4};
 
 
 
 
 
        Vector3D mountBase_MechanicalOriginFrame;
        
        float mountBase_Omega_MechanicalOriginFrame;
 
        Vector3D camera_MechanicalOriginFrame;
 
        Vector3D camera_ChartCenterFrame;
 
        std::string zaberPort;
 
 
        std::string liftingColumnPort;
 
        #ifdef HC_API_MACRO_EXCLUDE_DOCS
        std::shared_ptr<VCXFramingInternals> internals;
        #endif
 
        void initialize(ControlSystem* system);
 
 
        void mountBase_GoTo_Home();
 
 
        void mountBase_Go_MechanicalOriginFrame(const Vector3D& mechSpace, float omega);
 
 
        void mountBase_Go_ChartCenterFrame(const Vector3D& chartSpace, float omega);
 
 
        void mountBase_Go_HomeFrame(const Vector3D& displacement, float omega);
 
        
        
 
 
        Vector3D chartCenterFrame_To_MechanicalOriginFrame(Vector3D chartCenterSpace);
 
        Vector3D targetMountHomeFrame_To_MechanicaOriginFrame(Vector3D homeSpace);
 
        Vector3D mechanicalOriginFrame_To_HomeFrame(Vector3D mechanicalSpace);
 
 
        Vector3D mountBaseFrame_To_MechanicalOriginFrame(Vector3D mountbaseSpace);
        
 
    };
 
 
 
}
 
 
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