fclose(f);
}</pre>
Note: In order for your new class to be defined its header file should be added into the standard header include file StdAfx.h in the GCodeInterpreter Directory as are the other Kinematic class headers as shown below:
<pre class="brush:c">#include "Kinematics.h"
#include "Kinematics3Rod.h"
#include "KinematicsGeppetto.h"
#include "KinematicsGeppettoExtrude.h"
#include "Kinematics5AxisGimbalAB.h"
#include "Kinematics5AxisGimbalCB.h"
#include "Kinematics5AxisTableAC.h"
#include "Kinematics5AxisTableBC.h"</pre>
The first non-linear Kinematics that was added to the KMotion Libraries was the simple Kinematics3Rod class shown below. Given the XYZ CAD position it computes the necessary lengths of 3 "rod" type linear actuators to place the end effector at the desired CAD location. Also below is a old video of it in operation.
</pre>
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A more complex 6 axis Kinematics (CKinematicsGeppetto)
{{#ev:youtube|MSONYPXe3bE}}