ROBOOP::Dynamics Class Reference#include <dynamics_sim.h>
List of all members.
Detailed Description
Dynamics simulation handling class.
Definition at line 57 of file dynamics_sim.h.
Constructor & Destructor Documentation
virtual ROBOOP::Dynamics::~Dynamics |
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Member Function Documentation
Dynamics * ROBOOP::Dynamics::Instance |
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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. |
virtual void ROBOOP::Dynamics::plot |
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void ROBOOP::Dynamics::reset_time |
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void ROBOOP::Dynamics::Runge_Kutta4 |
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void ROBOOP::Dynamics::Runge_Kutta4_Real_time |
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void ROBOOP::Dynamics::set_dof |
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Robot_basic * |
robot_ |
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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. |
void ROBOOP::Dynamics::set_final_time |
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const double |
tf |
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ReturnMatrix ROBOOP::Dynamics::set_robot_on_first_point_of_splines |
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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(). |
void ROBOOP::Dynamics::set_time_frame |
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const int |
nsteps |
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Obtain state derivative.
- Parameters:
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| x: | state vector (joint speed and joint velocity). |
The controller torque is applied if any controller has been selected, then the joint acceleration is obtained.
Definition at line 238 of file dynamics_sim.cpp.
Referenced by Runge_Kutta4(), and Runge_Kutta4_Real_time(). |
Member Data Documentation
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Statd vector derivative obtaint in xdot function.
Definition at line 91 of file dynamics_sim.h.
Referenced by xdot(). |
The documentation for this class was generated from the following files:
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