//
// Created by 24871 on 2024/10/2.
//

#ifndef CUSTOMER_CONTROLLER_KINEMATICS_H
#define CUSTOMER_CONTROLLER_KINEMATICS_H

//连杆偏移
#define LINK_OFFSET1 76
#define LINK_OFFSET2 116
#define LINK_OFFSET3 0
#define LINK_OFFSET4 0

//连杆长度
#define LINK_LENGTH1 0
#define LINK_LENGTH2 0
#define LINK_LENGTH3 0
#define LINK_LENGTH4 36

//连杆扭角
#define LINK_TWIST1 -1.570796
#define LINK_TWIST2 1.570796
#define LINK_TWIST3 -1.570796
#define LINK_TWIST4 0

typedef struct
{
    float offset;      //d
    float length;       //a
    float twist;    //alpha
    float angle;  //theta
    float angle_set;
    float transformation_matrix[4][4];
} Link_Parameter_s;




#endif //CUSTOMER_CONTROLLER_KINEMATICS_H