ROBOOP, A Robotics Object Oriented Package in C++
Functions | Variables
demo.cpp File Reference

A demo file. More...

#include "gnugraph.h"
#include "quaternion.h"
#include "robot.h"
#include "utils.h"

Go to the source code of this file.

Functions

void homogen_demo (void)
 
void kinematics_demo (void)
 
void dynamics_demo (void)
 
int main (void)
 
ReturnMatrix xdot (Real t, const Matrix &x)
 

Variables

const Real RR_data []
 
const Real RR_data_mdh []
 
const Real RR_data_mdh_min_para []
 
const Real RP_data []
 
const Real PUMA560_data []
 
const Real PUMA560_motor []
 
const Real STANFORD_data []
 
Robot robot
 
Matrix K
 
ColumnVector q0
 

Detailed Description

A demo file.

Demos for homogeneous transforms, kinematics, etc.

Definition in file demo.cpp.

Variable Documentation

const Real PUMA560_data[]
Initial value:
=
{0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0,
0, 0, 0, 0.4318, 0, 0, 0, 0, 17.4, -0.3638, 0.006, 0.2275, 0.13, 0, 0, 0.524, 0, 0.539, 0,
0, 0, 0.15005, 0.0203, -M_PI/2.0, 0, 0, 0, 4.8, -0.0203, -0.0141, 0.07, 0.066, 0, 0, 0.086, 0, 0.0125, 0,
0, 0, 0.4318, 0.0, M_PI/2.0, 0, 0, 0, 0.82, 0, 0.019, 0, 0.0018, 0, 0, 0.0013, 0, 0.0018, 0,
0, 0, 0, 0.0, -M_PI/2.0, 0, 0, 0, 0.34, 0.0, 0.0, 0.0, 0.0003, 0.0, 0.0, 0.0004, 0.0, 0.0003, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.09, 0.0, 0.0, 0.032, 0.00015, 0.0, 0.0, 0.00015, 0.0, 0.00004, 0}

Definition at line 200 of file demo.cpp.

const Real PUMA560_motor[]
Initial value:
=
{200e-6, -62.6111, 1.48e-3, (.395 +.435)/2,
200e-6, 107.815, .817e-3, (.126 + .071)/2,
200e-6, -53.7063, 1.38e-3, (.132 + .105)/2,
33e-6, 76.0364, 71.2e-6, (11.2e-3 + 16.9e-3)/2,
33e-6, 71.923, 82.6e-6, (9.26e-3 + 14.5e-3)/2,
33e-6, 76.686, 36.7e-6, (3.96e-3 + 10.5e-3)/2}

Definition at line 207 of file demo.cpp.

const Real RP_data[]
Initial value:
=
{0, 0, 0, 0, -M_PI/2.0, 0, 0, 0, 2.0, 0, 0, 0.0, 1.0, 0, 0, 1.0, 0, 1.0, 0, 0, 0, 0, 0,
1, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0,-1.0, 0.0833333, 0, 0, 0.0833333, 0, 0.0833333, 0, 0, 0, 0, 0}

Definition at line 197 of file demo.cpp.

const Real RR_data[]
Initial value:
=
{0, 0, 0, 1.0, 0, 0, 0, 0, 2.0,-0.5, 0, 0, 0, 0, 0, 0.1666666, 0, 0.1666666, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 1.0,-0.5, 0, 0, 0, 0, 0, 0.0833333, 0, 0.0833333, 0, 0, 0, 0, 0}

Definition at line 187 of file demo.cpp.

const Real RR_data_mdh[]
Initial value:
=
{0, 0, 0, 1.0, 0, 0, 0, 0, 2.0, 0.5, 0, 0, 0, 0, 0, 0.1666666, 0, 0.1666666, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 1.0, 0.5, 0, 0, 0, 0, 0, 0.0833333, 0, 0.0833333, 0, 0, 0, 0, 0}

Definition at line 190 of file demo.cpp.

const Real RR_data_mdh_min_para[]
Initial value:
=
{0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0.0, 0, 0, 0, 0, 0, 0, 0.0, 1.666666, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0.5, 0, 0, -0.25, 0, 0, 0, 0.0, 0.3333333, 0, 0, 0, 0, 0}

Definition at line 193 of file demo.cpp.

const Real STANFORD_data[]
Initial value:
=
{0.0, 0.0, 0.4120, 0.0, -M_PI/2, 0,0,0,9.29, 0.0, 0.0175, -0.1105, 0.276, 0.0, 0, 0.255, 0.0, 0.071,0,0,0,0,0,
0.0, 0.0, 0.1540, 0.0, M_PI/2.0, 0,0,0,5.01, 0.0, -1.054, 0.0, 0.108, 0.0, 0.0, 0.018, 0.0, 0.1,0,0,0,0,0,
1.0, -M_PI/2.0, 0.0, 0.0, 0.0, 0,0,0,4.25, 0.0, 0.0, -6.447, 2.51, 0.0, 0.0, 2.51, 0.0, 0.006,0,0,0,0,0,
0.0, 0.0, 0.0, 0.0, -M_PI/2.0, 0,0,0,1.08, 0.0, 0.092, -0.054, 0.002, 0.0, 0.0, 0.001, 0.0, 0.001,0,0,0,0,0,
0.0, 0.0, 0.0, 0.0, M_PI/2.0, 0,0,0,0.63, 0.0, 0.0, 0.566, 0.003, 0.0, 0.0, 0.003, 0.0, 0.0004,0,0,0,0,0,
0.0, 0.0, 0.2630, 0.0, 0.0, 0,0,0,0.51, 0.0, 0.0, 1.5540, 0.013, 0.0, 0.0, 0.013, 0.0, 0.0003,0,0,0,0,0}

Definition at line 215 of file demo.cpp.