fafo/OpenMicroManipulator
17
0
Fork 0
Code Issues Pull requests Projects Releases Packages Wiki Activity Actions

correct typo on IKinemtaicModel class name

Browse source
This commit is contained in:
Gabriel Oliveira 2025-10-03 23:36:42 -03:00
parent dc488770be
commit 8a1d8a5e70
11 changed files with 23 additions and 23 deletions
Download patch file Download diff file Expand all files Collapse all files

4
firmware/MotionControllerRP/src/motion_control/path_planner.cpp
View file

@ -12,7 +12,7 @@
#include <algorithm>
PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
PathPlanner::PathPlanner(IKinematicModel* kinematic_model, float time_step) {
PathPlanner::segment_time_step = time_step;
PathPlanner::kinematic_model = kinematic_model;
@ -23,7 +23,7 @@ PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
PathPlanner::~PathPlanner() {
}
void PathPlanner::set_kinematic_model(IKinemtaicModel* kinematic_model) {
void PathPlanner::set_kinematic_model(IKinematicModel* kinematic_model) {
PathPlanner::kinematic_model = kinematic_model;
}

8
firmware/MotionControllerRP/src/motion_control/path_planner.h
View file

@ -14,7 +14,7 @@
//*** CLASS *****************************************************************************
class IKinemtaicModel;
class IKinematicModel;
//--- PathPlanner -----------------------------------------------------------------------
@ -24,11 +24,11 @@ class PathPlanner {
static constexpr int JS_QUEUE_SIZE = 32;
public:
PathPlanner(IKinemtaicModel* kinematic_model, float time_step);
PathPlanner(IKinematicModel* kinematic_model, float time_step);
~PathPlanner();
// sets the kinematic model for foreward and inverse kinematic calculations
void set_kinematic_model(IKinemtaicModel* kinematic_model);
void set_kinematic_model(IKinematicModel* kinematic_model);
// adds a new cartesian space path segment to the planner queue
bool add_cartesian_path_segment(const CartesianPathSegment& path_segment);
@ -67,7 +67,7 @@ class PathPlanner {
RingBuffer<CartesianPathSegment, CT_QUEUE_SIZE> ct_path_segment_queue;
RingBuffer<JointSpacePathSegment, JS_QUEUE_SIZE> js_path_segment_queue;
IKinemtaicModel* kinematic_model;
IKinematicModel* kinematic_model;
JointSpacePathSegmentGenerator* segment_generator = nullptr;
float segment_time_step;
LinearAngular junction_deviation;

4
firmware/MotionControllerRP/src/motion_control/path_segment.cpp
View file

@ -7,7 +7,7 @@
#include "path_segment.h"
#include "utilities/logging.h"
#include "kinemtaic_models/kinematic_model_base.h"
#include "kinematic_models/kinematic_model_base.h"
//--- MotionProfileConstAcc -------------------------------------------------------------
@ -248,7 +248,7 @@ bool JointSpacePathSegment::is_initialized() {
JointSpacePathSegmentGenerator::JointSpacePathSegmentGenerator(
const CartesianPathSegment* path_segment,
IKinemtaicModel* kinematic_model,
IKinematicModel* kinematic_model,
float time_step)
{
JointSpacePathSegmentGenerator::path_segment = path_segment;

6
firmware/MotionControllerRP/src/motion_control/path_segment.h
View file

@ -17,7 +17,7 @@ constexpr int NUM_JOINTS = 3;
//*** CLASS *****************************************************************************
class IKinemtaicModel;
class IKinematicModel;
//--- JointInfo -------------------------------------------------------------------------
@ -127,7 +127,7 @@ class JointSpacePathSegmentGenerator {
public:
JointSpacePathSegmentGenerator(
const CartesianPathSegment* path_segment,
IKinemtaicModel* kinematic_model,
IKinematicModel* kinematic_model,
float time_step
);
@ -143,6 +143,6 @@ class JointSpacePathSegmentGenerator {
float current_joint_pos[NUM_JOINTS]; // current joint positions
const CartesianPathSegment* path_segment = nullptr;
IKinemtaicModel* kinematic_model;
IKinematicModel* kinematic_model;
};