calculateMaxReach method

Implementation

// calculateMaxReach written with Cursor.
Future<double> calculateMaxReach(Arm arm) async {
  final kinematics = await arm.getKinematics();
  final bytes = Uint8List.fromList(kinematics.raw);
  final jsonString = utf8.decode(bytes);
  final jsonObj = jsonDecode(jsonString);

  if (jsonObj is! Map<String, dynamic> || !jsonObj.containsKey('links')) {
    return 0.0;
  }

  final links = jsonObj['links'] as List<dynamic>;

  // Calculate max reach by summing arm link lengths (excluding base and gripper)
  double maxReach = 0.0;
  for (final link in links) {
    final linkMap = link as Map<String, dynamic>;
    final linkId = linkMap['id'] as String? ?? '';
    final translation = linkMap['translation'] as Map<String, dynamic>?;

    // Skip base and gripper links - they don't contribute to arm reach
    if (linkId.contains('base') || linkId.contains('gripper')) {
      continue;
    }

    if (translation != null) {
      final tx = (translation['x'] as num?)?.toDouble() ?? 0.0;
      final ty = (translation['y'] as num?)?.toDouble() ?? 0.0;
      final tz = (translation['z'] as num?)?.toDouble() ?? 0.0;
      final linkLength = sqrt(tx * tx + ty * ty + tz * tz);
      if (linkLength > 0) {
        maxReach += linkLength;
      }
    }
  }

  return maxReach;
}