Update README.md

README.md

@@ -1,90 +1,56 @@
-# DIANA-TemplateCPP
+# Panda-IK
 <p align="center">
-    <img src="assets/logo.png">
+    <img src="assets/panda_ik.gif">
 </p>
 
-### v2.0.0
-*Insert here a brief description of the project.* <br>
-DIANA-TemplateCPP is the official C++/Cmake template for DIANA Software repositories. It is intended as a *starting point* for the development of new repositories. It uses advanced CMake functionalities to make the project compliant with the [DIANA Software standard](https://github.com/team-diana/CS-Docs/tree/master/DIANA%20Software/Conventions), to handlefiles, installation and tests. This template is meant to be used in CLion IDE.
+Based upon [this work](https://github.com/ffall007/franka_analytical_ik), this shared library provides an easy-to-use interface for the analytical inverse kinematics solver for the Franka Emika Panda robot. The available functionalities are callable from both C++ and Python. A Python example is provided [here](python/example.py).
 
-### Workflows
-|      | **Build and install** | **Makefile standard commands** |
-|----------|----------|-------------------------|
-|  **Master**    |    ![MASTER: ccpp.yml](https://github.com/team-diana/DIANA-TemplateCPP/actions/workflows/ccpp.yml/badge.svg?badge.svg?branch=master) |![MASTER: make-standard-commands.yml](https://github.com/team-diana/DIANA-TemplateCPP/actions/workflows/make-standard-commands.yml/badge.svg?branch=master)           |
-|  **Develop**    |![DEVELOP: ccpp.yml](https://github.com/team-diana/DIANA-TemplateCPP/actions/workflows/ccpp.yml/badge.svg?branch=develop)               |  ![MASTER: make-standard-commands.yml](https://github.com/team-diana/DIANA-TemplateCPP/actions/workflows/make-standard-commands.yml/badge.svg?branch=develop) |
+## Installation
 
-## Description
-Insert here some detailed description about your software. Here are some suggestions:
-- **Library**: *How to include in Cmake? What are the main functions of the library? How do they work? Simple code examples*
-- **Program**: *How does it work? How to use it ? Program arguments ? What are the Mqtt topics it uses? Are there any ShmemKeys? Does it have particular dependencies?*
-- **Service**: How does it work? Is it possible to use it as standalone? Does it have dependencies? Are there arguments to pass in the standalone version?
-
-*In general, think as you were the user, and not a developer: what are the info you will need to start using your modules as fast as possible?*
-*Also, remember to provide links to documentation (Cs docs) and external information, if needed.*
-## Make Targets
-### Install Dependencies
-
-#### Configure
-
-```bash
+```
+git clone [email protected]:Anatr1/panda-IK.git
+cd panda-IK
 make configure
+make build
+make install
 ```
-### Build project
-#### Generate Makefiles/Cmake Project
 
-```bash
-make generate
-```
-#### Clean (deletes build folder)
+## Usage
 
-```bash
-make clean
-```
+### C++
 
-#### Build project - debug configuration
+To obtain an array of doubles corresponding to the joint angles of the robot for a given end-effector pose, use the following function:
 
-```bash
-make build
-```
+```cpp
+#include <panda_ik.hpp>
 
-#### Build project - Release configuration
+// ...
 
-```bash
-make release
-```
-### Install, uninstall, test and others
-#### Install built project
+std::array<double, 7> result = compute_inverse_kinematics(array<double, 6> xyzrpy, array<double, 7> q_actual);
 
-```bash
-make install
-```
-#### Uninstall built project
-Cleans all the files installed by the project.
-```bash
-make uninstall
 ```
+```xyzrpy``` is an array of doubles containing the desired end-effector pose in the format [x, y, z, roll, pitch, yaw]. ```q_actual``` is an array of doubles containing the current joint angles of the robot. ```result``` will contain the solution, if any, for the given input. If no solution is found, the function will return the current joint angles of the robot.
 
-#### Run Tests
+### Python
 
-```bash
-make test
-```
+To obtain an array of doubles corresponding to the joint angles of the robot for a given end-effector pose, use the following function:
 
-#### Generate Doxygen documentation
+```python
+import ctypes
 
-```bash
-make docs
-```
+# Load the shared library
+pandaik_lib = ctypes.CDLL('/usr/local/diana/lib/libPanda-IK.so')
 
-### Other makefile targets
-Set here, if needed, "custom" make targets for the project.
-### Run ExampleProgram
+# Define the argument types and return type
+pandaik_lib.compute_inverse_kinematics_void.argtypes = [ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double), ctypes.POINTER(ctypes.c_double)]
+pandaik_lib.compute_inverse_kinematics_void.restype = None
 
-```bash
-make run_ExampleProgram
-```
-### Run ExampleService (as a standalone)
+xyzrpy = (ctypes.c_double * 6)(X, Y, Z, ROLL, PITCH, YAW)
+q_actual = (ctypes.c_double * 7)(Q1, Q2, Q3, Q4, Q5, Q6, Q7)
+output = (ctypes.c_double * 7)()
 
-```bash
-make run_ExampleService
+# Call a function from the library
+pandaik_lib.compute_inverse_kinematics_void(xyzrpy, q_actual, output)
 ```
+
+```X, Y, Z, ROLL, PITCH, YAW``` are the desired end-effector pose. ```Q1, Q2, Q3, Q4, Q5, Q6, Q7``` are the current joint angles of the robot. ```output``` will contain the solution, if any, for the given input. If no solution is found, the function will return the current joint angles of the robot.

python/example.py

@@ -12,6 +12,6 @@
 output = (ctypes.c_double * 7)()
 
 # Call a function from the library
-result = pandaik_lib.compute_inverse_kinematics_void(xyzrpy, q_actual, output)
+pandaik_lib.compute_inverse_kinematics_void(xyzrpy, q_actual, output)
 print("Result from C++:", list(output))  # Assuming the function returns an array of 7 doubles
 # Should print: Result from C++: [0.8867046650124633, -1.3398493172549706, -0.7760786149655098, -2.652291962842672, 2.2357825028981364, 2.737863867200816, 0.0]