Specs

add_link_to_robot_model_by_name(
  %{points: List, indices: List, translates: List, rotates: List},
  List,
  List,
  %{
    link_name: Charlist,
    instance_geometry: List,
    frame: %{
      name: Charlist,
      rotate_axis_sid: Charlist,
      frames: List,
      rotate_axis: List
    },
    linked_links: List
  },
  Charlist,
  Float
) :: Rbot.Mesh

Add meshes and transform info to robot model by using the name of the link

Parameters

- robot_model: robot model used to store mesh and tranform information
- geometries: List of geometries to store geometry data
- names: names of the gerometries
- link: robto link
- name: name of the geometry
- joint_value: angle of the joint in rad

Examples

geometries = File.read!("geometries.txt") |> :erlang.binary_to_term
link_base = File.read!("link_base.txt") |> :erlang.binary_to_term
link_1 = File.read!("link_1.txt") |> :erlang.binary_to_term
link_2 = File.read!("link_2.txt") |> :erlang.binary_to_term
link_3 = File.read!("link_3.txt") |> :erlang.binary_to_term
link_4 = File.read!("link_4.txt") |> :erlang.binary_to_term
link_5 = File.read!("link_5.txt") |> :erlang.binary_to_term
link_6 = File.read!("link_6.txt") |> :erlang.binary_to_term
robot_model = %{points: [], indices: [], translates: [], rotates: []}
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_base, 'gkmodel0_base_link_geom0', 0.0)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_1, 'gkmodel0_link_1_geom0', :math.pi/6)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_2, 'gkmodel0_link_2_geom0', :math.pi/6)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_3, 'gkmodel0_link_3_geom0', :math.pi/6)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_4, 'gkmodel0_link_4_geom0', :math.pi/6)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_5, 'gkmodel0_link_5_geom0', :math.pi/6)
robot_model = add_link_to_robot_model_by_name(robot_model, geometries, names, link_6, 'gkmodel0_link_6_geom0', :math.pi/6)

Specs

apply_joint(List, List, List, List, List) :: List

Perform frame transformation.

Parameters

- old_trans: the first translation vector
- old_rots:  the first rotation axis+angle 
- new_trans: the secord tranlation vector 
- new_rots:  the secord rotation axis+angle 
- joint_vector: the joint rotaion axis+angle

Specs

charlist_to_flist(Charlist) :: List

Convert List of Char to a List of FLoat.

Parameters

- charlist: Charlist Example: '1 2 3'

Examples

iex(6)> charlist_to_flist('1 2 3') 
[1.0, 2.0, 3.0]

Specs

convert_to_frame(binary(), Charlist) :: Robot.Frame

Convert string list to float list in frame, and add name to frame

Parameters

- xmlresult: frame
- name: link node path in xml

Examples

translates_path = %SweetXpath{path: './node[@name="'++link_name++'"]/translate/text()', is_list: true}
rotate_axis_sid_path = %SweetXpath{path: './node[@name="'++link_name++'"]/rotate/@sid'}
rotates_path = %SweetXpath{path: './node[@name="'++link_name++'"]/rotate/text()', is_list: true}
result = xmldoc |> xpath(
    link_path,
    translates: instance_geometry_path = translates_path,
    rotate_axis_sid: rotate_axis_sid_path,
    rotates: rotates_path
)
frame = convert_to_frame(result, link_name)

Specs

get_base_frame(binary()) :: Robot.Frame

Get base frame information in a Map
TODO: develop information model for robot.

Parameters

- xmldoc: xml file readed

Examples

result = get_base_frame(xmldoc)

Specs

get_base_link(binary()) :: Robot.Link

Get base link information in a Map
TODO: develop information model for robot.

Parameters

- xmldoc: xml file readed

Examples

result = get_base_link(xmldoc)

Specs

get_link(
  binary(),
  %SweetXpath{
    cast_to: term(),
    is_keyword: term(),
    is_list: term(),
    is_optional: term(),
    is_value: term(),
    namespaces: term(),
    path: term(),
    transform_fun: term()
  },
  Charlist
) :: %{link_name: Charlist, instance_geometry: List, linked_links: List}

Get link information and return a Map based on name input
TODO: develop information model for robot.

Parameters

- xmldoc: xml file readed
- link_path: link node path in xml
- link_name: link name 

Examples

link_name = 'link_6'
link_6_path = get_link_path(link_name)
result = get_link(xmldoc, link_6_path, link_name)

Specs

get_link_1(binary()) :: Robot.Link

Get link_1 information and put it in a Map
TODO: develop information model for robot.

Parameters

- xmldoc: xml file readed

Examples

iex> get_link_1(xmldoc)
%{frame: 
    %{frames: 
        [%{rotate: [1.0, 0.0, 0.0, 0.0], translate: [0.0, 0.0, 0.0]}, 
         %{rotate: [1.0, 0.0, 0.0, 0.0], translate: [0.0, 0.0, 0.227]}, 
         %{rotate: [1.0, 0.0, 0.0, 0.0], translate: [0.0, 0.0, 0.0]}], 
      name: 'link_1', 
      rotate_axis: [0.0, 0.0, 1.0, 0.0], 
      rotate_axis_sid: 'node_joint_1_axis0'}, 
  instance_geometry: ['#gkmodel0_link_1_geom0'], 
  link_name: 'link_1', 
  linked_links: ['link_2', 'link_cylinder']}

TODO: merge to get_link_n, after development of information model

TODO: merge to get_link_n, after development of information model

TODO: merge to get_link_n, after development of information model

TODO: merge to get_link_n, after development of information model

TODO: merge to get_link_n, after development of information model

Specs

get_link_frame(
  binary(),
  %SweetXpath{
    cast_to: term(),
    is_keyword: term(),
    is_list: term(),
    is_optional: term(),
    is_value: term(),
    namespaces: term(),
    path: term(),
    transform_fun: term()
  },
  Charlist
) :: Robot.Frame

Get link frames information and return a Map based on name input
TODO: develop information model for robot.

Parameters

- xmldoc: xml file readed
- link_path: link node path in xml
- link_name: link name 

Examples

link_name = 'link_6'
link_6_path = get_link_path(link_name)
result = get_link(xmldoc, link_6_path, link_name)

Specs

get_link_path(Charlist) :: %SweetXpath{
  cast_to: term(),
  is_keyword: term(),
  is_list: term(),
  is_optional: term(),
  is_value: term(),
  namespaces: term(),
  path: term(),
  transform_fun: term()
}

Get link path based on link name
TODO: develop information model for robot.

Parameters

- link: name of link

Examples

link_name = 'link_6'
link_6_path = get_link_path(link_name)

Specs

get_robot_model_based_on_joint_value(Robot.Joints) :: Robot.Mesh

Generate Robot mesh based on joints

Parameters

- joints: Joints input

Examples

joints = %Robot.Joints{joint1: :math.pi/6, joint2: :math.pi/6, joint3: :math.pi/6, joint4: :math.pi/6, joint5: :math.pi/6, joint6: :math.pi/6}
robot_model = get_robot_model_based_on_joint_value(joints)
points = robot_model.points
indices = robot_model.indices
translates = robot_model.translates
rotates = robot_model.rotates
draw(points,indices,translates,rotates)

TODO