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robot.cpp File Reference


Detailed Description

Initialisation of differents robot class.

Definition in file robot.cpp.

#include "robot.h"
#include <time.h>

Include dependency graph for robot.cpp:

Go to the source code of this file.

Namespaces

namespace  ROBOOP

Functions

void perturb_robot (Robot_basic &robot, const double f)
 Modify a robot.
bool Puma_DH (const Robot_basic *robot)
 Return true if the robot is like a Puma on DH notation.
bool Rhino_DH (const Robot_basic *robot)
 Return true if the robot is like a Rhino on DH notation.
bool ERS_Leg_DH (const Robot_basic *robot)
 Return true if the robot is like the leg chain of an AIBO on DH notation.
bool ERS2xx_Head_DH (const Robot_basic *robot)
 Return true if the robot is like the camera chain of a 200 series AIBO on DH notation.
bool ERS7_Head_DH (const Robot_basic *robot)
 Return true if the robot is like the camera or mouth chain of a 7 model AIBO on DH notation.
bool Puma_mDH (const Robot_basic *robot)
 Return true if the robot is like a Puma on modified DH notation.
bool Rhino_mDH (const Robot_basic *robot)
 Return true if the robot is like a Rhino on modified DH notation.

Variables

static const char rcsid [] = "$Id: robot.cpp,v 1.19 2004/12/10 23:49:35 ejt Exp $"
 RCS/CVS version.
Real fourbyfourident [] = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}
 Used to initialize a $4\times 4$ matrix.
Real threebythreeident [] = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}
 Used to initialize a $3\times 3$ matrix.


Function Documentation

bool ROBOOP::ERS2xx_Head_DH const Robot_basic *  robot  ) 
 

Return true if the robot is like the camera chain of a 200 series AIBO on DH notation.

Definition at line 1711 of file robot.cpp.

Referenced by ROBOOP::Robot::robotType_inv_kin().

bool ROBOOP::ERS7_Head_DH const Robot_basic *  robot  ) 
 

Return true if the robot is like the camera or mouth chain of a 7 model AIBO on DH notation.

Definition at line 1730 of file robot.cpp.

Referenced by ROBOOP::Robot::robotType_inv_kin().

bool ROBOOP::ERS_Leg_DH const Robot_basic *  robot  ) 
 

Return true if the robot is like the leg chain of an AIBO on DH notation.

Definition at line 1695 of file robot.cpp.

Referenced by ROBOOP::Robot::robotType_inv_kin().

void ROBOOP::perturb_robot Robot_basic &  robot,
const double  f = 0.1
 

Modify a robot.

Parameters:
robot: Robot_basic reference.
f: Percentage of erreur between 0 and 1.
f represents an error to added on the robot inertial parameter. f is between 0 (no error) and 1 (100% error).

Definition at line 1595 of file robot.cpp.

bool ROBOOP::Puma_DH const Robot_basic *  robot  ) 
 

Return true if the robot is like a Puma on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1628 of file robot.cpp.

Referenced by ROBOOP::Robot::robotType_inv_kin().

bool ROBOOP::Puma_mDH const Robot_basic *  robot  ) 
 

Return true if the robot is like a Puma on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1750 of file robot.cpp.

Referenced by ROBOOP::mRobot_min_para::robotType_inv_kin(), and ROBOOP::mRobot::robotType_inv_kin().

bool ROBOOP::Rhino_DH const Robot_basic *  robot  ) 
 

Return true if the robot is like a Rhino on DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1662 of file robot.cpp.

Referenced by ROBOOP::Robot::robotType_inv_kin().

bool ROBOOP::Rhino_mDH const Robot_basic *  robot  ) 
 

Return true if the robot is like a Rhino on modified DH notation.

Compare the robot DH table with the Puma DH table. The function return true if the tables are similar (same alpha and similar a and d parameters).

Definition at line 1784 of file robot.cpp.

Referenced by ROBOOP::mRobot_min_para::robotType_inv_kin(), and ROBOOP::mRobot::robotType_inv_kin().


Variable Documentation

Real ROBOOP::fourbyfourident = {1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,1.0}
 

Used to initialize a $4\times 4$ matrix.

Definition at line 106 of file robot.cpp.

Referenced by ROBOOP::eulzxz(), ROBOOP::Robot_basic::kine(), ROBOOP::rotk(), ROBOOP::rotx(), ROBOOP::roty(), ROBOOP::rotz(), ROBOOP::rpy(), ROBOOP::Quaternion::T(), and ROBOOP::trans().

const char rcsid[] = "$Id: robot.cpp,v 1.19 2004/12/10 23:49:35 ejt Exp $" [static]
 

RCS/CVS version.

Definition at line 95 of file robot.cpp.

Real ROBOOP::threebythreeident = {1.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,1.0}
 

Used to initialize a $3\times 3$ matrix.

Definition at line 109 of file robot.cpp.

Referenced by ROBOOP::Robot_basic::convertFrame(), ROBOOP::Robot_basic::convertFrameToLink(), ROBOOP::Robot_basic::convertLink(), ROBOOP::Robot_basic::convertLinkToFrame(), ROBOOP::mRobot_min_para::dTdqi(), ROBOOP::mRobot::dTdqi(), ROBOOP::Robot::dTdqi(), ROBOOP::Quaternion::E(), ROBOOP::Robot_basic::operator=(), ROBOOP::Quaternion::R(), and ROBOOP::Robot_basic::Robot_basic().


ROBOOP v1.21a
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