.vscode | ||

config | ||

lib | ||

test | ||

.drone.yml | ||

.formatter.exs | ||

.gitignore | ||

.tool-versions | ||

CHANGELOG.md | ||

LICENSE.md | ||

mix.exs | ||

mix.lock | ||

README.md | ||

renovate.json |

# Kinemat

Kinemat is the beginnings of a library for solving forward and reverse kinematics of robotic systems and graphical simulations.

## Installation

As this package currently doesn't do what it says on the tin, I've not published a version to hex yet. Maybe when it looks more complete.

For now, you can install it as a Git dependency:

```
def deps do
[{:kinemat, "~> 1.0.1"}]
end
```

Docs are available on docs.harton.nz.

## Usage

### Representing angles regardless of unit

Since Angles are probably something you want to use we use the angle package to store and convert between different types of angles.

Most usefully you can use the `~a`

sigil to create angles in different units.
See the angle docs for more
information.

### Representing spacial coordinates

Kinemat uses the `Point`

protocol to handle manipulations of spacial
coordinates. The protocol is implemented by `Cartesian`

, `Cylindrical`

and
`Spherical`

.

```
iex> use Kinemat
...> use Kinemat.Coordinates
...> Cartesian.init(3,4,5)
...> |> Point.to_cylindrical()
#Kinemat.Point<[azimuth: #Angle<0.9272952180016122㎭>,
radial: 5.0,
vertical: 5]>
```

### Representing spacial orientations

Kinemat uses the `Orientation`

module to allow manipulations and conversions
between the three primary orientation modules; `Euler`

, `RotationMatrix`

and
`Quaternion`

.

Note that not all `Euler`

orders are supported, but only so-called "Tait-Bryan"
angles.

```
iex> use Kinemat
...> use Kinemat.Orientations
...> Euler.init(:xyz, ~a(10)d, ~a(20)d, ~a(30)d)
...> |> Orientation.to_quaternion()
#Kinemat.Orientation<[
type: :quaternion,
w: #Angle<0.943714364147489㎭>,
x: 0.12767944069578063,
y: 0.14487812541736914,
z: 0.2685358227515692
]>
```

### Representing frames of reference

Kinemat can build a `Frame`

given the combination of an `Orientation`

and a `Point`

;

```
iex> use Kinemat
...> point = Kinemat.Coordinates.Cylindrical.init(10, ~a(20)d, 30)
...> orientation = Kinemat.Orientations.Euler.init(:xyz, ~a(10)d, ~a(20)d, ~a(30)d)
...> frame = Frame.init(point, orientation)
#Kinemat.Frame<[
orientation: #Kinemat.Orientation<[
euler: :xyz,
x: #Angle<10°>,
y: #Angle<20°>,
z: #Angle<30°>
]>,
point: #Kinemat.Point<[azimuth: #Angle<20°>, radial: 10, vertical: 30]>
]>
```

And frames can be converted to homogeneous transformations

```
...> Kinemat.HomogeneousTransformation.to_homogeneous_transformation(frame)
{ 0.8137976813493738, 0.5438381424823255, -0.20487412870286215, 9.396926207859085,
-0.46984631039295416, 0.823172944645501, 0.3187957775971678, 3.420201433256687,
0.3420201433256687, -0.16317591116653482, 0.9254165783983234, 30,
0.0, 0.0, 0.0, 1.0}
```

### Representing joints

Kinemat can build `Revolute`

, `Cylindrical`

and `Prismatic`

joints starting
with a frame and extra information based on the kind of joint in use.

```
iex> use Kinemat
...> use Kinemat.Joints
...> Revolute.init(Frame.zero(), limits: {~a(-10)d, ~a(10)d})
%Kinemat.Joints.Revolute{
frame: #Kinemat.Frame<[
orientation: #Kinemat.Orientation<[
euler: :xyz,
x: #Angle<0>,
y: #Angle<0>,
z: #Angle<0>
]>,
point: #Kinemat.Point<[x: 0, y: 0, z: 0]>
]>,
limits: {#Angle<-10°>, #Angle<10°>},
position: #Angle<-10°>
}
```

Documentation can be generated with ExDoc and published on HexDocs. Once published, the docs can be found at https://hexdocs.pm/kinemat.

## Github Mirror

This repository is mirrored on Github from it's primary location on my Forgejo instance. Feel free to raise issues and open PRs on Github.

## License

This software is licensed under the terms of the
HL3-FULL, see the `LICENSE.md`

file included with
this package for the terms.

This license actively proscribes this software being used by and for some industries, countries and activities. If your usage of this software doesn't comply with the terms of this license, then contact me with the details of your use-case to organise the purchase of a license - the cost of which may include a donation to a suitable charity or NGO.