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ROBOOP::Robot_basic Class Reference#include <robot.h>
Inheritance diagram for ROBOOP::Robot_basic:
![]() Detailed DescriptionVirtual base robot class.Definition at line 216 of file robot.h.
Member Enumeration Documentation
Constructor & Destructor Documentation
Constructor.
Constructor.
Constructor.
Constructor.
Member Function Documentation
Overload = operator.
Definition at line 1031 of file robot.cpp. Referenced by ROBOOP::mRobot_min_para::operator=(), ROBOOP::mRobot::operator=(), and ROBOOP::Robot::operator=().
< Return joint i position. Definition at line 235 of file robot.h. Referenced by ROBOOP::Clik::Clik(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::Proportional_Derivative::torque_cmd(), ROBOOP::Computed_torque_method::torque_cmd(), and ROBOOP::Resolved_acc::torque_cmd().
Return dof.
Definition at line 240 of file robot.h. Referenced by ROBOOP::Computed_torque_method::Computed_torque_method(), ROBOOP::Dynamics::Dynamics(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::Goose_Neck_DH(), ROBOOP::PanTilt_DH(), ROBOOP::perturb_robot(), ROBOOP::Proportional_Derivative::Proportional_Derivative(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Resolved_acc::Resolved_acc(), ROBOOP::Rhino_DH(), ROBOOP::Rhino_mDH(), ROBOOP::Dynamics::set_dof(), and ROBOOP::Resolved_acc::torque_cmd().
Counts number of currently non-immobile links.
Definition at line 241 of file robot.h. Referenced by ROBOOP::Crab_Arm_DH(), get_available_q(), get_available_qp(), get_available_qpp(), inv_kin(), inv_kin_orientation(), inv_kin_pos(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::PanTilt_DH(), set_q(), and set_qp().
Return fix.
Definition at line 243 of file robot.h. Referenced by ROBOOP::Dynamics::Dynamics(), ROBOOP::perturb_robot(), and ROBOOP::Dynamics::set_dof().
Return the joint position vector.
Definition at line 1146 of file robot.cpp. Referenced by ROBOOP::Robot::goose_neck_angles(), ROBOOP::Robot::inv_kin_ers_pos(), ROBOOP::Robot::inv_kin_pan_tilt(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), and ROBOOP::Robot::inv_kin_rhino().
Return the joint velocity vector.
Definition at line 1156 of file robot.cpp. Referenced by ROBOOP::Clik::Clik(), ROBOOP::Proportional_Derivative::torque_cmd(), ROBOOP::Computed_torque_method::torque_cmd(), and ROBOOP::Resolved_acc::torque_cmd().
Return the joint position vector of available (non-immobile) joints.
Definition at line 247 of file robot.h. Referenced by inv_kin(), inv_kin_orientation(), and inv_kin_pos().
Set the joint position vector. Set the joint position vector and recalculate the orientation matrix R and the position vector p (see Link class). Print an error if the size of q is incorrect. Definition at line 1279 of file robot.cpp. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::Clik::endeff_pos_ori_err(), ROBOOP::Robot::goose_neck_angles(), inertia(), inv_kin(), ROBOOP::Robot::inv_kin_ers_pos(), inv_kin_orientation(), ROBOOP::Robot::inv_kin_pan_tilt(), inv_kin_pos(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), ROBOOP::Clik::q_qdot(), ROBOOP::Dynamics::set_robot_on_first_point_of_splines(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().
Set the joint velocity vector.
Definition at line 1318 of file robot.cpp. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque().
Direct kinematics at end effector.
Definition at line 98 of file kinemat.cpp. Referenced by ROBOOP::Clik::endeff_pos_ori_err(), and ROBOOP::Impedance::Impedance().
Direct kinematics at end effector.
Definition at line 108 of file kinemat.cpp.
Return the end effector direct kinematics transform matrix.
Definition at line 131 of file kinemat.cpp. Referenced by inv_kin(), inv_kin_orientation(), and inv_kin_pos().
Direct kinematics with velocity.
Return a Definition at line 153 of file kinemat.cpp. Referenced by ROBOOP::Resolved_acc::torque_cmd().
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Overload inv_kin function.
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Definition at line 82 of file invkine.cpp. Referenced by inv_kin(), ROBOOP::mRobot_min_para::inv_kin(), ROBOOP::mRobot::inv_kin(), ROBOOP::Robot::inv_kin(), and ROBOOP::Dynamics::set_robot_on_first_point_of_splines().
Numerical inverse kinematics. See inv_kin(const Matrix & Tobj, const int mj, const int endlink, bool & converge).
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Numerical inverse kinematics.
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Definition at line 90 of file invkine.cpp.
Numerical inverse kinematics.
Reimplemented in ROBOOP::Robot. Definition at line 211 of file invkine.cpp. Referenced by ROBOOP::Robot::inv_kin_pos().
Numerical inverse kinematics.
Reimplemented in ROBOOP::Robot. Definition at line 426 of file invkine.cpp. Referenced by ROBOOP::Robot::inv_kin_orientation().
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Jacobian of mobile links expressed at frame ref. See jacobian(const int endlink, const int reg).
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Definition at line 276 of file robot.h. Referenced by inv_kin(), inv_kin_orientation(), and inv_kin_pos().
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Referenced by ROBOOP::Resolved_acc::torque_cmd().
Inverse Jacobian based on damped least squares inverse.
where
A singular region, based on the smallest singular value, can be defined by
Definition at line 180 of file kinemat.cpp. Referenced by ROBOOP::Clik::q_qdot(), and ROBOOP::Resolved_acc::torque_cmd().
Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Definition at line 280 of file robot.h. Referenced by dTdqi(), inv_kin(), inv_kin_orientation(), and inv_kin_pos().
Partial derivative of the robot position (homogeneous transf.) See dTdqi(Matrix & dRot, ColumnVector & dpos, const int i, const int endlink).
Reimplemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Joints acceleration without contact force.
Definition at line 95 of file dynamics.cpp. Referenced by ROBOOP::Dynamics::xdot().
Joints acceleration. The robot dynamics is
then the joint acceleration is
Definition at line 107 of file dynamics.cpp.
Inertia of the manipulator.
Definition at line 78 of file dynamics.cpp. Referenced by acceleration().
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Referenced by acceleration(), inertia(), ROBOOP::Computed_torque_method::torque_cmd(), and ROBOOP::Resolved_acc::torque_cmd().
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para. Referenced by dtau_dqp().
Sensitivity of the dynamics with respect to
This function computes Definition at line 58 of file sensitiv.cpp.
Sensitivity of the dynamics with respect to
This function computes Definition at line 84 of file sensitiv.cpp.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Implemented in ROBOOP::Robot, ROBOOP::mRobot, and ROBOOP::mRobot_min_para.
Print the message msg1 on the console.
Definition at line 1129 of file robot.cpp. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), get_q(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), Robot_basic(), set_q(), set_qp(), set_qpp(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity(). useful for fixing x to be at least min or at most max; handles angles so closest boundary is picked, but assumes x is normalized (-pi,pi)
Definition at line 318 of file robot.h. Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), and ROBOOP::Robot::computeThirdERSLink(). ensures that t is in the range (-pi,pi) (upper boundary may not be inclusive...?)
Definition at line 331 of file robot.h. Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), and limit_angle().
converts a homogenous vector to a normal vector
Definition at line 334 of file robot.h. Referenced by ROBOOP::Robot::computeThirdERSLink().
converts one or more column-wise vectors from frame cur to frame dest
Definition at line 233 of file kinemat.cpp. Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), convertFrame(), convertFrameToLink(), convertLink(), convertLinkToFrame(), ROBOOP::Robot::goose_neck_angles(), and ROBOOP::Robot::inv_kin_pan_tilt().
Returns a matrix which can be used to convert from frame cur to frame dest The Matrix returned will be homogenous (4x4).
Definition at line 263 of file kinemat.cpp.
converts vector(s) on link cur to be vector(s) in joint reference frame dest
The Matrix returned will match the homogenousness of A. Definition at line 283 of file kinemat.cpp. Referenced by convertLinkToFrame().
Returns a matrix which can be used to convert from link frame cur to joint frame dest.
The Matrix returned will be homogenous (4x4). Definition at line 309 of file kinemat.cpp.
converts vector(s) in joint referenc frame cur to be vector(s) on link dest
The Matrix returned will match the homogenousness of A. Definition at line 329 of file kinemat.cpp. Referenced by convertFrameToLink().
Returns a matrix which can be used to convert from joint reference frame cur to link frame dest.
The Matrix returned will be homogenous (4x4). Definition at line 356 of file kinemat.cpp.
converts vector(s) on link cur to be vector(s) on link dest
The Matrix returned will match the homogenousness of A. Definition at line 376 of file kinemat.cpp. Referenced by ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), and convertLink().
Returns a matrix which can be used to convert from link cur to link dest.
The Matrix returned will be homogenous (4x4). Definition at line 414 of file kinemat.cpp.
Definition at line 375 of file robot.h. Referenced by convertFrame(), convertFrameToLink(), convertLink(), and convertLinkToFrame().
Friends And Related Function Documentation
Member Data Documentation
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::Resolved_acc::torque_cmd(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), operator=(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), ROBOOP::Rhino_mDH(), Robot_basic(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), convertFrame(), convertFrameToLink(), convertLink(), convertLinkToFrame(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), operator=(), Robot_basic(), set_q(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic().
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), operator=(), Robot_basic(), and ~Robot_basic(). Axis vector at each joint.
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity(). Gravity vector.
Definition at line 350 of file robot.h. Referenced by ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), and ROBOOP::Robot::torque(). Temprary rotation matrix.
Definition at line 354 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), convertFrame(), convertFrameToLink(), convertLink(), convertLinkToFrame(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ~Robot_basic(). Pointer on Link cclass.
Definition at line 355 of file robot.h. Referenced by ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::Robot::computeFirstERSLink(), ROBOOP::Robot::computeSecondERSLink(), ROBOOP::Robot::computeThirdERSLink(), convertFrame(), convertFrameToLink(), convertLink(), convertLinkToFrame(), ROBOOP::Crab_Arm_DH(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), ROBOOP::ERS2xx_Head_DH(), ROBOOP::ERS7_Head_DH(), ROBOOP::ERS_Leg_DH(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), get_available_dof(), get_available_q(), get_available_qp(), get_available_qpp(), get_DH(), get_q(), get_qp(), get_qpp(), ROBOOP::Robot::goose_neck_angles(), ROBOOP::Goose_Neck_DH(), inv_kin(), ROBOOP::Robot::inv_kin_ers_pos(), inv_kin_orientation(), ROBOOP::Robot::inv_kin_pan_tilt(), inv_kin_pos(), ROBOOP::mRobot_min_para::inv_kin_puma(), ROBOOP::mRobot::inv_kin_puma(), ROBOOP::Robot::inv_kin_puma(), ROBOOP::mRobot_min_para::inv_kin_rhino(), ROBOOP::mRobot::inv_kin_rhino(), ROBOOP::Robot::inv_kin_rhino(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), operator=(), ROBOOP::PanTilt_DH(), ROBOOP::perturb_robot(), ROBOOP::Puma_DH(), ROBOOP::Puma_mDH(), ROBOOP::Rhino_DH(), ROBOOP::Rhino_mDH(), Robot_basic(), set_q(), set_qp(), set_qpp(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), ROBOOP::Robot::torque_novelocity(), and ~Robot_basic().
Robot type.
Definition at line 371 of file robot.h. Referenced by ROBOOP::mRobot_min_para::inv_kin(), ROBOOP::mRobot::inv_kin(), ROBOOP::Robot::inv_kin(), ROBOOP::Robot::inv_kin_ers_pos(), ROBOOP::Robot::inv_kin_orientation(), ROBOOP::Robot::inv_kin_pos(), operator=(), ROBOOP::mRobot_min_para::robotType_inv_kin(), ROBOOP::mRobot::robotType_inv_kin(), and ROBOOP::Robot::robotType_inv_kin().
Degree of freedom.
Definition at line 372 of file robot.h. Referenced by acceleration(), ROBOOP::mRobot_min_para::C(), ROBOOP::mRobot::C(), ROBOOP::Robot::C(), ROBOOP::mRobot_min_para::delta_torque(), ROBOOP::mRobot::delta_torque(), ROBOOP::Robot::delta_torque(), ROBOOP::mRobot_min_para::dq_torque(), ROBOOP::mRobot::dq_torque(), ROBOOP::Robot::dq_torque(), ROBOOP::mRobot_min_para::dqp_torque(), ROBOOP::mRobot::dqp_torque(), ROBOOP::Robot::dqp_torque(), dtau_dq(), dtau_dqp(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), dTdqi(), ROBOOP::mRobot_min_para::G(), ROBOOP::mRobot::G(), ROBOOP::Robot::G(), get_available_dof(), get_available_q(), get_available_qp(), get_available_qpp(), get_dof(), get_q(), get_qp(), get_qpp(), inertia(), ROBOOP::mRobot_min_para::inv_kin(), ROBOOP::mRobot::inv_kin(), ROBOOP::Robot::inv_kin(), inv_kin(), inv_kin_orientation(), inv_kin_pos(), jacobian(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::Robot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), ROBOOP::Robot::jacobian_dot(), kine(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), ROBOOP::Robot::kine_pd(), operator=(), Robot_basic(), set_q(), set_qp(), set_qpp(), ROBOOP::mRobot_min_para::torque(), ROBOOP::mRobot::torque(), ROBOOP::Robot::torque(), ROBOOP::mRobot_min_para::torque_novelocity(), ROBOOP::mRobot::torque_novelocity(), and ROBOOP::Robot::torque_novelocity().
Virtual link, used with modified DH notation.
Definition at line 372 of file robot.h. Referenced by get_fix(), ROBOOP::mRobot_min_para::jacobian(), ROBOOP::mRobot::jacobian(), ROBOOP::mRobot_min_para::jacobian_dot(), ROBOOP::mRobot::jacobian_dot(), kine(), ROBOOP::mRobot_min_para::kine_pd(), ROBOOP::mRobot::kine_pd(), operator=(), Robot_basic(), ROBOOP::mRobot_min_para::torque(), and ROBOOP::mRobot::torque().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
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