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correct typo on IKinemtaicModel class name

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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
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0
firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.cpp → firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.cpp
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6
firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_base.h → firmware/MotionControllerRP/src/kinematic_models/kinematic_model_base.h
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@ -9,11 +9,11 @@
class Pose6DF; class Pose6DF;
//--- IKinemtaicModel ------------------------------------------------------------------- //--- IKinematicModel -------------------------------------------------------------------
class IKinemtaicModel { class IKinematicModel {
public: public:
virtual ~IKinemtaicModel() {}; virtual ~IKinematicModel() {};
// returns the number of joints // returns the number of joints
virtual int get_joint_count(); virtual int get_joint_count();

0
firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.cpp → firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.cpp
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6
firmware/MotionControllerRP/src/kinemtaic_models/kinematic_model_delta3d.h → firmware/MotionControllerRP/src/kinematic_models/kinematic_model_delta3d.h
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@ -16,9 +16,9 @@
class Pose6DF; class Pose6DF;
//--- KinemtaicModel_Delta3D ------------------------------------------------------------ //--- KinematicModel_Delta3D ------------------------------------------------------------
class KinematicModel_Delta3D : public IKinemtaicModel { class KinematicModel_Delta3D : public IKinematicModel {
public: public:
KinematicModel_Delta3D(); KinematicModel_Delta3D();
@ -46,4 +46,4 @@ bool circle_sphere_intersection(double r1, const Vec3F& p, double r2, Vec3F inte
bool three_sphere_intersection(const Vec3F& p1, float r1, bool three_sphere_intersection(const Vec3F& p1, float r1,
const Vec3F& p2, float r2, const Vec3F& p2, float r2,
const Vec3F& p3, float r3, const Vec3F& p3, float r3,
Vec3F intersections[2]); Vec3F intersections[2]);

4
firmware/MotionControllerRP/src/main.cpp
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@ -18,7 +18,7 @@
#include "robot.h" #include "robot.h"
#include "utilities/logging.h" #include "utilities/logging.h"
#include "utilities/frequency_counter.h" #include "utilities/frequency_counter.h"
#include "kinemtaic_models/kinematic_model_delta3d.h" #include "kinematic_models/kinematic_model_delta3d.h"
#include "version.h" #include "version.h"
#include "hw_config.h" #include "hw_config.h"
#include "LittleFS.h" #include "LittleFS.h"
@ -161,4 +161,4 @@ void setup() {
void loop() { void loop() {
main_core0(); main_core0();
} }

4
firmware/MotionControllerRP/src/motion_control/path_planner.cpp
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@ -12,7 +12,7 @@
#include <algorithm> #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::segment_time_step = time_step;
PathPlanner::kinematic_model = kinematic_model; PathPlanner::kinematic_model = kinematic_model;
@ -23,7 +23,7 @@ PathPlanner::PathPlanner(IKinemtaicModel* kinematic_model, float time_step) {
PathPlanner::~PathPlanner() { PathPlanner::~PathPlanner() {
} }
void PathPlanner::set_kinematic_model(IKinemtaicModel* kinematic_model) { void PathPlanner::set_kinematic_model(IKinematicModel* kinematic_model) {
PathPlanner::kinematic_model = kinematic_model; PathPlanner::kinematic_model = kinematic_model;
} }

8
firmware/MotionControllerRP/src/motion_control/path_planner.h
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@ -14,7 +14,7 @@
//*** CLASS ***************************************************************************** //*** CLASS *****************************************************************************
class IKinemtaicModel; class IKinematicModel;
//--- PathPlanner ----------------------------------------------------------------------- //--- PathPlanner -----------------------------------------------------------------------
@ -24,11 +24,11 @@ class PathPlanner {
static constexpr int JS_QUEUE_SIZE = 32; static constexpr int JS_QUEUE_SIZE = 32;
public: public:
PathPlanner(IKinemtaicModel* kinematic_model, float time_step); PathPlanner(IKinematicModel* kinematic_model, float time_step);
~PathPlanner(); ~PathPlanner();
// sets the kinematic model for foreward and inverse kinematic calculations // 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 // adds a new cartesian space path segment to the planner queue
bool add_cartesian_path_segment(const CartesianPathSegment& path_segment); 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<CartesianPathSegment, CT_QUEUE_SIZE> ct_path_segment_queue;
RingBuffer<JointSpacePathSegment, JS_QUEUE_SIZE> js_path_segment_queue; RingBuffer<JointSpacePathSegment, JS_QUEUE_SIZE> js_path_segment_queue;
IKinemtaicModel* kinematic_model; IKinematicModel* kinematic_model;
JointSpacePathSegmentGenerator* segment_generator = nullptr; JointSpacePathSegmentGenerator* segment_generator = nullptr;
float segment_time_step; float segment_time_step;
LinearAngular junction_deviation; LinearAngular junction_deviation;

4
firmware/MotionControllerRP/src/motion_control/path_segment.cpp
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@ -7,7 +7,7 @@
#include "path_segment.h" #include "path_segment.h"
#include "utilities/logging.h" #include "utilities/logging.h"
#include "kinemtaic_models/kinematic_model_base.h" #include "kinematic_models/kinematic_model_base.h"
//--- MotionProfileConstAcc ------------------------------------------------------------- //--- MotionProfileConstAcc -------------------------------------------------------------
@ -248,7 +248,7 @@ bool JointSpacePathSegment::is_initialized() {
JointSpacePathSegmentGenerator::JointSpacePathSegmentGenerator( JointSpacePathSegmentGenerator::JointSpacePathSegmentGenerator(
const CartesianPathSegment* path_segment, const CartesianPathSegment* path_segment,
IKinemtaicModel* kinematic_model, IKinematicModel* kinematic_model,
float time_step) float time_step)
{ {
JointSpacePathSegmentGenerator::path_segment = path_segment; JointSpacePathSegmentGenerator::path_segment = path_segment;

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

4
firmware/MotionControllerRP/src/robot.cpp
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@ -10,7 +10,7 @@
#include "hw_config.h" #include "hw_config.h"
#include "utilities/logging.h" #include "utilities/logging.h"
#include "utilities/utilities.h" #include "utilities/utilities.h"
#include "kinemtaic_models/kinematic_model_delta3d.h" #include "kinematic_models/kinematic_model_delta3d.h"
#include "servo_control/homing_controller.h" #include "servo_control/homing_controller.h"
#include "servo_control/actuator_calibration.h" #include "servo_control/actuator_calibration.h"
#include "pico/multicore.h" #include "pico/multicore.h"
@ -779,4 +779,4 @@ void Robot::process_calibrate_joint_command(const GCodeCommand& cmd, std::string
bool ok = calibrate_joint(idx, store_calibration); bool ok = calibrate_joint(idx, store_calibration);
reply = ok ? "ok\n" : "error\n"; reply = ok ? "ok\n" : "error\n";
} }

4
firmware/MotionControllerRP/src/robot.h
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@ -130,7 +130,7 @@ class Robot : public ICommandProcessor {
RobotJoint* volatile joints[NUM_JOINTS]; RobotJoint* volatile joints[NUM_JOINTS];
spin_lock_t* joints_spin_lock = nullptr; spin_lock_t* joints_spin_lock = nullptr;
IKinemtaicModel* kinematic_model; IKinematicModel* kinematic_model;
PathPlanner path_planner; PathPlanner path_planner;
MotionController motion_controller; MotionController motion_controller;
CommandParser command_parser; CommandParser command_parser;
@ -146,4 +146,4 @@ class Robot : public ICommandProcessor {
FrequencyCounter servo_loop_frequency_counter; FrequencyCounter servo_loop_frequency_counter;
FrequencyCounter motion_controller_frequency_counter; FrequencyCounter motion_controller_frequency_counter;
}; };