ROBOOP, A Robotics Object Oriented Package in C++
New_dynamics Class Reference

This is an example of customize Dynamics class. More...

Inheritance diagram for New_dynamics:

Public Member Functions

 New_dynamics (Robot_basic *robot_)
virtual void plot ()
 Customize plot function. More...
- Public Member Functions inherited from Dynamics
 Dynamics (Robot_basic *robot_)
void set_dof (Robot_basic *robot_)
 Set the degree of freedom. More...
short set_controller (const Control_Select &x)
 Set the control variable from the Control_Select reference.
short set_trajectory (const Trajectory_Select &x)
 Set the path_select variable from the Trajectory_Select reference.
ReturnMatrix set_robot_on_first_point_of_splines ()
 Set the robot on first point of trajectory. More...
void set_time_frame (const int nsteps)
 Set the number of iterations.
void set_final_time (const double tf)
 Set the file time.
void reset_time ()
 Set the simulation time to the inital time.
void Runge_Kutta4_Real_time ()
 Runge Kutta solver for real time.
void Runge_Kutta4 ()
 Runge Kutta solver.
ReturnMatrix xdot (const Matrix &xin)
 Obtain state derivative. More...

Public Attributes

bool first_pass_plot
RowVector tout
Matrix xout
int i
- Public Attributes inherited from Dynamics
bool first_pass_Kutta
 First time in all Runge_Kutta4 functions.
int ndof
 Degree of freedom.
int dof_fix
 Degree of freedom + virtual link.
int nsteps
 Numbers of iterations between.
double h
 Runge Kutta temporary variable.
double h2
 Runge Kutta temporary variable.
double time
 Time during simulation.
double to
 Initial simulation time.
double tf
 Final time used in Runge_Kutta4_Real_time.
double tf_cont
 Final time used in Runge_Kutta4.
double dt
 Time frame.
Matrix k1
 Runge Kutta temporary variable.
Matrix k2
 Runge Kutta temporary variable.
Matrix k3
 Runge Kutta temporary variable.
Matrix k4
 Runge Kutta temporary variable.
Matrix x
 Stated vector obtain in Runge Kutta functions.
Matrix xd
 Statd vector derivative obtaint in xdot function.
ColumnVector q
 Joints positions.
ColumnVector qp
 Joints velocities.
ColumnVector qpp
 Joints accelerations.
ColumnVector qd
 Desired joints positions.
ColumnVector qpd
 Desired joints velocities.
ColumnVector qppd
 Desired joints accelerations.
ColumnVector tau
 Controller output torque.
ColumnVector pd
 Desired end effector cartesian position.
ColumnVector ppd
 Desired end effector cartesian velocity.
ColumnVector pppd
 Desired end effector cartesian acceleration.
ColumnVector wd
 Desired end effector cartesian angular velocity.
ColumnVector wpd
 Desired end effector cartesian angular acceleration.
Quaternion quatd
 Desired orientation express by a quaternion.
Control_Select control
 Instance of Control_Select class.
Trajectory_Select path_select
 Instance of Trajectory_Select class.
 Pointer on Robot_basic class.

Additional Inherited Members

- Static Public Member Functions inherited from Dynamics
static DynamicsInstance ()
 A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor).
- Static Public Attributes inherited from Dynamics
static Dynamicsinstance = 0
 Static pointer on Dynamics class.

Detailed Description

This is an example of customize Dynamics class.

This class enherite from Dynamics class. At every time frame the new virtual plot functions record the current time and the robot joints positions. The data can then be used to create a plot.

Definition at line 60 of file demo_2dof_pd.cpp.

Member Function Documentation

void New_dynamics::plot ( )

Customize plot function.

Record the time (tout) and the joints positions (xout). This member function is call by the member function xdot.

Reimplemented from Dynamics.

Definition at line 91 of file demo_2dof_pd.cpp.

References first_pass_plot, i, Dynamics::nsteps, robot, Dynamics::tf_cont, Dynamics::time, Dynamics::to, tout, Dynamics::x, and xout.

Member Data Documentation

bool New_dynamics::first_pass_plot

First time in plot function.

Definition at line 67 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

int New_dynamics::i

Temporary index.

Definition at line 70 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

Robot_basic* New_dynamics::robot

Robot_basic pointer.

Definition at line 66 of file demo_2dof_pd.cpp.

Referenced by New_dynamics(), and plot().

RowVector New_dynamics::tout

Output time vector.

Definition at line 68 of file demo_2dof_pd.cpp.

Referenced by plot().

Matrix New_dynamics::xout

Output state vector.

Definition at line 69 of file demo_2dof_pd.cpp.

Referenced by plot().