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ROBOOP::Dynamics Class Reference#include <dynamics_sim.h>
Detailed DescriptionDynamics simulation handling class.Definition at line 56 of file dynamics_sim.h.
Constructor & Destructor Documentation
Definition at line 60 of file dynamics_sim.h.
Member Function Documentation
A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor).
Definition at line 88 of file dynamics_sim.cpp.
Set the degree of freedom. Obtain the degree of freedom from Robot_basic pointer. Some vectors will be resize with new current dof value. Definition at line 97 of file dynamics_sim.cpp.
Set the control variable from the Control_Select reference.
Definition at line 147 of file dynamics_sim.cpp.
Set the path_select variable from the Trajectory_Select reference.
Definition at line 160 of file dynamics_sim.cpp.
Set the robot on first point of trajectory. Assigned the robot joints position to the first point of the trajectory if the latter is expressed in joint space, or assigned the robot joints position via inverse kinematics if the trajectory is expressed in cartesian space. The function return a message on the console if the format of the trajectory file is incorrect. Definition at line 176 of file dynamics_sim.cpp. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time().
Obtain state derivative.
Definition at line 238 of file dynamics_sim.cpp. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time().
Member Data DocumentationFirst time in all Runge_Kutta4 functions.
Definition at line 78 of file dynamics_sim.h. Referenced by Dynamics(), reset_time(), Runge_Kutta4_Real_time(), and set_dof(). Degree of freedom.
Definition at line 79 of file dynamics_sim.h. Referenced by Dynamics(), set_controller(), set_dof(), set_robot_on_first_point_of_splines(), and xdot(). Degree of freedom + virtual link.
Definition at line 79 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), and xdot(). Numbers of iterations between.
Definition at line 79 of file dynamics_sim.h. Referenced by Dynamics(), Runge_Kutta4(), Runge_Kutta4_Real_time(), and set_time_frame().
Runge Kutta temporary variable.
Definition at line 82 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time().
Runge Kutta temporary variable.
Definition at line 82 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time().
Time during simulation.
Definition at line 82 of file dynamics_sim.h. Referenced by Runge_Kutta4(), Runge_Kutta4_Real_time(), and xdot().
Initial simulation time.
Definition at line 82 of file dynamics_sim.h. Referenced by Dynamics(), Runge_Kutta4(), and Runge_Kutta4_Real_time().
Final time used in Runge_Kutta4_Real_time.
Definition at line 82 of file dynamics_sim.h. Referenced by Dynamics(), and Runge_Kutta4_Real_time().
Final time used in Runge_Kutta4.
Definition at line 82 of file dynamics_sim.h. Referenced by Dynamics(), Runge_Kutta4(), set_final_time(), and set_robot_on_first_point_of_splines().
Runge Kutta temporary variable.
Definition at line 89 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). Runge Kutta temporary variable.
Definition at line 89 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). Runge Kutta temporary variable.
Definition at line 89 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). Runge Kutta temporary variable.
Definition at line 89 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). Stated vector obtain in Runge Kutta functions.
Definition at line 89 of file dynamics_sim.h. Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). Statd vector derivative obtaint in xdot function.
Definition at line 89 of file dynamics_sim.h. Referenced by xdot(). Joints positions.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), set_robot_on_first_point_of_splines(), and xdot(). Joints velocities.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), and xdot(). Joints accelerations.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), and xdot(). Desired joints positions.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), set_robot_on_first_point_of_splines(), and xdot(). Desired joints velocities.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), set_robot_on_first_point_of_splines(), and xdot(). Controller output torque.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), and xdot(). Desired end effector cartesian position.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_robot_on_first_point_of_splines(), and xdot(). Desired end effector cartesian velocity.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_robot_on_first_point_of_splines(), and xdot(). Desired end effector cartesian acceleration.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_robot_on_first_point_of_splines(), and xdot(). Desired end effector cartesian angular velocity.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), set_robot_on_first_point_of_splines(), and xdot(). Desired end effector cartesian angular acceleration.
Definition at line 95 of file dynamics_sim.h. Referenced by Dynamics(), and xdot(). Desired orientation express by a quaternion.
Definition at line 106 of file dynamics_sim.h. Referenced by set_robot_on_first_point_of_splines(), and xdot(). Instance of Control_Select class.
Definition at line 107 of file dynamics_sim.h. Referenced by set_controller(), set_trajectory(), and xdot(). Instance of Trajectory_Select class.
Definition at line 108 of file dynamics_sim.h. Referenced by set_robot_on_first_point_of_splines(), set_trajectory(), and xdot(). Pointer on Robot_basic class.
Definition at line 109 of file dynamics_sim.h. Referenced by Dynamics(), set_dof(), set_robot_on_first_point_of_splines(), and xdot().
Static pointer on Dynamics class.
Definition at line 111 of file dynamics_sim.h. Referenced by Dynamics(), and Instance().
The documentation for this class was generated from the following files: |
ROBOOP v1.21a |
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