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Summary of functions


Table 2.2: Homogeneous transforms
Homogeneous Transforms
eulzxz transform of Euler angles
ieulzxz Euler angles of a transform
irotk rotation around a unit vector of a transform
irpy roll-pitch-yaw angles of a transform
rotd transform of a rotation around a line segment
rotk transform of a rotation around a unit vector
rpy transform of roll-pitch-yaw angles
rotx transform of a rotation around $X$ axis
roty transform of a rotation around $Y$ axis
rotz transform of a rotation around $Z$ axis
trans transform of a translation


Table 2.3: Quaternion class member functions
Quaternions
+, -, *, /, = operators on quaternions
conjugate, i conjugate (or inverse) of a quaternion
exp, Log, power exponential, logarithm and power of a quaternion
dot_prod dot product of a quaternion
dot, E quaternion time derivative
unit make a quaternion a unit quaternion
norm, norm_sqr compute the norm and the square norm of a quaternion
s, v returns the scalar and the vector of a quaternion
set_s, set_v assign values to the scalar and vector part of a quaternion
R, T returns the equivalent rotation matrix ($3 \times 3$ or $4 \times 4$)


Table 2.4: Quaternion non member functions
Functions
Omega returns angular velocity
Slerp Spherical Linear Interpolation
Slerp_prime Spherical Linear Interpolation derivative
Squad Spherical Cubic Interpolation
Squad_prime Spherical Cubic Interpolation derivative


Table 2.5: Spl_Quaternion class member function
Spl_Quaternion
quat interpolate the spline at time $t$ to sets the quaternion $q$.
quat_w interpolate the spline at time $t$ to sets the quaternion $q$ and angular velocity $\omega$.


Table 2.6: Spl_Cubic class member function
Spl_Cubic
interpolating interpolate the spline at time $t$.
first_derivative interpolate the spline first derivative at time $t$.
second_derivative interpolate the spline second derivative at time $t$.


Table 2.7: Spl_path class member function
Spl_path
p interpolate the spline at time $t$ to sets the position.
p_pdot interpolate the spline at time $t$ to sets position and velocity.
p_pdot_pddot interpolate the spline at time $t$ to sets position, velocity and acceleration.


Table 2.8: CLIK class member function
CLIK
q_qdot sets the desired joint position and joint velocity


Table 2.9: Computed_torque_method class member function
Computed_torque_method
torque_cmd sets the output torque
set_Kd sets the derivative error gain
set_Kp sets the position error gain


Table 2.10: Resolve_acc class member function
Resolve_acc
torque_cmd sets the output torque
set_Kvp sets the translational velocity error gain
set_Kpp sets the translational position error gain
set_Kvo sets the rotational velocity error gain
set_Kpo sets the rotational position error gain


Table 2.11: Impedance class member function
Impedance
control sets the compliant trajectory
set_Mp sets the translational impedance inertia matrix
set_Dp sets the translational impedance damping matrix
set_Kp sets the translational impedance stiffness matrix
set_Mo sets the rotational impedance inertia matrix
set_Do sets the rotational impedance damping matrix
set_Ko sets the rotational impedance stiffness matrix


Table 2.12: IO_matrix_file class member functions
IO_matrix_file
write create and write data to a file
read read data from a file
read_all read entire data file at once


Table 2.13: Plot2d class member functions
Plot2d
addcommand add a gnuplot command the 2d graph
addcurve add a curve to the 2d graph
dump dump the content of the graph to stdout
gnuplot plot the graph through a call to gnuplot
settitle sets graph title
setxlabel sets axis X label
setylabel sets axis Y label
set_plot2d ``wrapper'' function for Plot2d


Table 2.14: Plot_file class member functions
Plot_file
graph create a graphics from a data file


Table 2.15: Config class member functions
Config
read_conf read configuration file
select_string assign the value of parameter from a section
select_bool assign the value of parameter from a section
select_short assign the value of parameter from a section
select_int assign the value of parameter from a section
select_double assign the value of parameter from a section


Table 2.16: Robot (and mRobot) class member functions
Joint Variables
get_q get the robot joint variables position
get_qp get the robot joint variables velocity
get_qpp get the robot joint variables acceleration
set_q set the robot joint variables position
set_qp set the robot joint variables velocity
set_qpp set the robot joint variables acceleration
Robot Kinematics
inv_kin inverse kinematics
inv_kin_rhino Rhino inverse kinematics
inv_kin_puma Puma inverse kinematics
jacobian robot Jacobian
jacobian_dot robot Jacobian derivative
jacobian_DLS_inv robot Jacobian DLS inverse
kine, kine_pd forward kinematics
dTdqi partial derivative of forward kinematics
Robot Dynamics
acceleration forward dynamics
inertia robot inertia matrix
torque inverse dynamics
torque_novelocity inverse dynamics without velocity and gravity
G gravity effects
C Coriolis and centrifugal effects
Robot Linearized Dynamics
delta_torque $\delta \mbox{\boldmath$ \tau $} = \mbox{\boldmath$ D(q) $} \delta \ddot{\mbox...
...\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}}) \delta \mbox{\boldmath$ q $}
$
dq_torque $ \mbox{\boldmath$ S_2(q, $}\dot{\mbox{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}}) \delta \mbox{\boldmath$ q $}
$
dqp_torque $ \mbox{\boldmath$ S_1(q, $}\dot{\mbox{\boldmath$ q $}}) \delta \dot{\mbox{\boldmath$ q $}}
$
dtau_dq $\frac{\partial \mbox{\boldmath$ \tau $}}{\partial \mbox{\boldmath$ q $}} = \m...
...oldmath$ S_2(q, $}\dot{\mbox{\boldmath$ q $}},\ddot{\mbox{\boldmath$ q $}})
$
dtau_dqp $\frac{\partial \mbox{\boldmath$ \tau $}}{\partial \dot{\mbox{\boldmath$ q $}}} = \mbox{\boldmath$ S_1(q, $}\dot{\mbox{\boldmath$ q $}})
$


Table 2.17: Miscellaneous
Miscellaneous
odeint adaptive step size Runge-Kutta integrator
Runge_Kutta4 fixed step size $4^{th}$ order Runge-Kutta integrator
Integ_Trap trapezoidal integration
vec_dot_prod vector dot product
vec_x_prod vector cross product
x_prod_matrix cross product matrix
perturb_robot perturb robot parameters


next up previous contents
Next: Reporting bugs, contributions and Up: Reference manual Previous: x_prod_matrix   Contents
Richard Gourdeau 2004-07-06