27 lines
743 B
Idris
27 lines
743 B
Idris
module Kinematics.Forward
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import Data.Vect
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import Data.NumIdr
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import public Kinematics.Arm
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%default total
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export
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forwardTransform : {n : _} -> (arm : ArmElement n) -> ArmConfig arm
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-> Maybe (Rigid n Double)
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forwardTransform arm = go arm . toVect
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where
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go : (arm : ArmElement n) -> Vect (countJoints arm) Double
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-> Maybe (Rigid n Double)
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go [] _ = Just identity
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go (Left l :: xs) cs = map (l *.) (go xs cs)
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go (Right j :: xs) (c :: cs) = [| jointAction j c *. go xs cs |]
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export
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forward : {n : _} -> (arm : ArmElement n) -> ArmConfig arm ->
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Maybe (Point n Double)
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forward arm cs = map (fromVector . getTranslationVector . getHMatrix)
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$ forwardTransform arm cs
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