robot.cpp File Reference
Detailed Description
Initialisation of differents robot class.
Definition in file robot.cpp.
#include "robot.h"
#include <time.h>
Include dependency graph for robot.cpp:
Go to the source code of this file.
|
Namespaces |
namespace | ROBOOP |
Functions |
void | perturb_robot (Robot_basic &robot, const double f) |
| Modify a robot.
|
bool | Puma_DH (const Robot_basic *robot) |
| Return true if the robot is like a Puma on DH notation.
|
bool | Rhino_DH (const Robot_basic *robot) |
| Return true if the robot is like a Rhino on DH notation.
|
bool | ERS_Leg_DH (const Robot_basic *robot) |
| Return true if the robot is like the leg chain of an AIBO on DH notation.
|
bool | ERS2xx_Head_DH (const Robot_basic *robot) |
| Return true if the robot is like the camera chain of a 200 series AIBO on DH notation.
|
bool | ERS7_Head_DH (const Robot_basic *robot) |
| Return true if the robot is like the camera or mouth chain of a 7 model AIBO on DH notation.
|
bool | Puma_mDH (const Robot_basic *robot) |
| Return true if the robot is like a Puma on modified DH notation.
|
bool | Rhino_mDH (const Robot_basic *robot) |
| Return true if the robot is like a Rhino on modified DH notation.
|
Variables |
static const char | rcsid [] = "$Id: robot.cpp,v 1.19 2004/12/10 23:49:35 ejt Exp $" |
| RCS/CVS version.
|
Real | fourbyfourident [] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0} |
| Used to initialize a matrix.
|
Real | threebythreeident [] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0} |
| Used to initialize a matrix.
|
Function Documentation
bool ROBOOP::ERS2xx_Head_DH |
( |
const Robot_basic * |
robot |
) |
|
|
bool ROBOOP::ERS7_Head_DH |
( |
const Robot_basic * |
robot |
) |
|
|
bool ROBOOP::ERS_Leg_DH |
( |
const Robot_basic * |
robot |
) |
|
|
void ROBOOP::perturb_robot |
( |
Robot_basic & |
robot, |
|
|
const double |
f = 0.1 |
|
) |
|
|
|
Modify a robot.
- Parameters:
-
| robot: | Robot_basic reference. |
| f: | Percentage of erreur between 0 and 1. |
f represents an error to added on the robot inertial parameter. f is between 0 (no error) and 1 (100% error).
Definition at line 1595 of file robot.cpp. |
bool ROBOOP::Puma_DH |
( |
const Robot_basic * |
robot |
) |
|
|
|
Return true if the robot is like a Puma on DH notation.
Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).
Definition at line 1628 of file robot.cpp.
Referenced by ROBOOP::Robot::robotType_inv_kin(). |
bool ROBOOP::Puma_mDH |
( |
const Robot_basic * |
robot |
) |
|
|
bool ROBOOP::Rhino_DH |
( |
const Robot_basic * |
robot |
) |
|
|
|
Return true if the robot is like a Rhino on DH notation.
Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).
Definition at line 1662 of file robot.cpp.
Referenced by ROBOOP::Robot::robotType_inv_kin(). |
bool ROBOOP::Rhino_mDH |
( |
const Robot_basic * |
robot |
) |
|
|
Variable Documentation
Real ROBOOP::fourbyfourident = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0} |
|
const char rcsid[] = "$Id: robot.cpp,v 1.19 2004/12/10 23:49:35 ejt Exp $" [static] |
|
|
RCS/CVS version.
Definition at line 95 of file robot.cpp. |
|
Used to initialize a matrix.
Definition at line 109 of file robot.cpp.
Referenced by ROBOOP::Robot_basic::convertFrame(), ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), ROBOOP::Robot_basic::convertLinkToFrame(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), ROBOOP::Quaternion::E(), ROBOOP::Robot_basic::operator=(), ROBOOP::Quaternion::R(), and ROBOOP::Robot_basic::Robot_basic(). |
|