https://wiki.cpr-robots.com/index.php?action=history&feed=atom&title=Math_Tools_App 2026-04-07T15:02:36Z Revision history for this page on the wiki MediaWiki 1.44.0 https://wiki.cpr-robots.com/index.php?title=Math_Tools_App&diff=4&oldid=prev 2025-08-11T10:13:15Z

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OLT https://wiki.cpr-robots.com/index.php?title=Math_Tools_App&diff=3&oldid=prev 2025-03-20T08:39:58Z

<p><span class="autocomment">Download</span></p> <p><b>New page</b></p><div>Math Tools an open source python-based app that extends the igus Robot Control with occasionally needed program functions, mainly around math and timing. The app has the following purposes:<br /> <br /> * New functions can be quickly added on demand<br /> * It lets us test rarely used functions before deciding to add them to the robot control software<br /> * Very easy to extend base for program commands developed by customers<br /> <br /> The Math Tools app is supported by iRC V14-004 and later.<br /> <br /> = Available Program Functions =<br /> <br /> Currently the following functions are provided:<br /> <br /> * Kinematics:<br /> ** Forward kinematics: Convert joint angles to cartesian position<br /> ** Inverse kinematics: Convert cartesian position to joint angles<br /> * Math:<br /> ** Calculate cartesian (XYZ) distance between two position variables<br /> ** Check cartesian (XYZ) distance between two position variables - to check whether a position is close to another<br /> ** Square root<br /> ** Exponentiation<br /> ** Minimum<br /> ** Maximum<br /> ** Copy position - Copies only selected components between position variables<br /> * Timing<br /> ** Get time since start in seconds<br /> ** Get time since start in minutes<br /> ** Get time since start in hours<br /> ** Wait by variable (give the duration via a number variable)<br /> <br /> = Download =<br /> <br /> App package: [https://github.com/CommonplaceRobotics/RobotControlApps/releases GitHub Releases]<br /> <br /> Source code: [https://github.com/CommonplaceRobotics/RobotControlApps/tree/v14-004/MathTools GitHub]<br /> <br /> = Adding Functions =<br /> <br /> Please refer to the [https://github.com/CommonplaceRobotics/RobotControlApps documentation and sample code] for any questions regarding the app interface.<br /> <br /> Adding your own functions is easy:<br /> 1. Open rcapp.xml with a basic text editor and add a new [https://github.com/CommonplaceRobotics/RobotControlApps/blob/master/documentation/rcapp.xml.md function definition] with a unique ID, name and the necessary parameters<br /> 2. Open MathToolsApp.py and add a new function that does whatever you need, similar to the examples<br /> 3. In function _AppFunctionHandler add a new condition that checks for the ID of your app function. Call your function.<br /> 4. Zip your code, install it to the robot control and test it.<br /> <br /> [[Category:Apps]]</div>

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