/**
* Set the motor limits in the motor hardware.
*
* @param minAngle Minimum for the angle, in radians, the StepperMotor can travel on the theoretical plane.
* @param maxAngle Maximum for the angle, in radians, the StepperMotor can travel on the theoretical plane.
**/
void StepperMotor::setMotorLimits(double minAngle, double maxAngle){
// Set motors limits.
setMinAngle(minAngle);
setMaxAngle(maxAngle);
}
extern shapeop_err shapeop_editConstraint(ShapeOpSolver *op,
const char *constraintType,
int constraint_id,
const ShapeOpScalar *scalars,
int nb_scl) {
if (strcmp(constraintType, "EdgeStrain") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::EdgeStrainConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 3) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setEdgeLength(scalars[0]);
c->setRangeMin(scalars[1]);
c->setRangeMax(scalars[2]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "TriangleStrain") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::TriangleStrainConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setRangeMin(scalars[0]);
c->setRangeMax(scalars[1]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "TetrahedronStrain") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::TetrahedronStrainConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setRangeMin(scalars[0]);
c->setRangeMax(scalars[1]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Area") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::AreaConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setRangeMin(scalars[0]);
c->setRangeMax(scalars[1]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Volume") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::VolumeConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setRangeMin(scalars[0]);
c->setRangeMax(scalars[1]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Bending") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::BendingConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setRangeMin(scalars[0]);
c->setRangeMax(scalars[1]);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Closeness") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::ClosenessConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 3) { return SO_INVALID_ARGUMENT_LENGTH; }
Eigen::Map<const ShapeOp::Vector3> p(scalars, 3, 1);
c->setPosition(p);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Similarity") == 0 || strcmp(constraintType, "Rigid") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::SimilarityConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
int nI = static_cast<int>(c->nIndices());
if ((nb_scl % (nI * 3)) != 0) { return SO_INVALID_ARGUMENT_LENGTH; }
std::vector<ShapeOp::Matrix3X> shapes;
int nShapes = nb_scl / (nI * 3);
for (int i = 0; i < nShapes; ++i) {
Eigen::Map<const ShapeOp::Matrix3X> s(scalars + i * nI * 3, 3, nI);
shapes.push_back(s);
}
c->setShapes(shapes);
return SO_SUCCESS;
}
if (strcmp(constraintType, "Angle") == 0) {
auto c = std::dynamic_pointer_cast<ShapeOp::AngleConstraint>(op->s->getConstraint(constraint_id));
if (!c) { return SO_UNMATCHING_CONSTRAINT_ID; }
if (nb_scl != 2) { return SO_INVALID_ARGUMENT_LENGTH; }
c->setMinAngle(scalars[0]);
c->setMaxAngle(scalars[1]);
return SO_SUCCESS;
}
return SO_INVALID_CONSTRAINT_TYPE;
}
