Dynamics simulation handling class. More...

#include <dynamics_sim.h>

Inheritance diagram for Dynamics:

Public Member Functions
	Dynamics (Robot_basic *robot_)
	Constructor.
virtual void	plot ()
	Virtual plot functions.
void	reset_time ()
	Set the simulation time to the inital time.
void	Runge_Kutta4 ()
	Runge Kutta solver.
void	Runge_Kutta4_Real_time ()
	Runge Kutta solver for real time.
short	set_controller (const Control_Select &x)
	Set the control variable from the Control_Select reference.
void	set_dof (Robot_basic *robot_)
	Set the degree of freedom.
void	set_final_time (const double tf)
	Set the file time.
ReturnMatrix	set_robot_on_first_point_of_splines ()
	Set the robot on first point of trajectory.
void	set_time_frame (const int nsteps)
	Set the number of iterations.
short	set_trajectory (const Trajectory_Select &x)
	Set the path_select variable from the Trajectory_Select reference.
ReturnMatrix	xdot (const Matrix &xin)
	Obtain state derivative.
virtual	~Dynamics ()
Static Public Member Functions
static Dynamics *	Instance ()
	A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor).
Public Attributes
Control_Select	control
	Instance of Control_Select class.
int	dof_fix
	Degree of freedom + virtual link.
double	dt
	Time frame.
bool	first_pass_Kutta
	First time in all Runge_Kutta4 functions.
double	h
	Runge Kutta temporary variable.
double	h2
	Runge Kutta temporary variable.
Matrix	k1
	Runge Kutta temporary variable.
Matrix	k2
	Runge Kutta temporary variable.
Matrix	k3
	Runge Kutta temporary variable.
Matrix	k4
	Runge Kutta temporary variable.
int	ndof
	Degree of freedom.
int	nsteps
	Numbers of iterations between.
Trajectory_Select	path_select
	Instance of Trajectory_Select class.
ColumnVector	pd
	Desired end effector cartesian position.
ColumnVector	ppd
	Desired end effector cartesian velocity.
ColumnVector	pppd
	Desired end effector cartesian acceleration.
ColumnVector	q
	Joints positions.
ColumnVector	qd
	Desired joints positions.
ColumnVector	qp
	Joints velocities.
ColumnVector	qpd
	Desired joints velocities.
ColumnVector	qpp
	Joints accelerations.
ColumnVector	qppd
	Desired joints accelerations.
Quaternion	quatd
	Desired orientation express by a quaternion.
Robot_basic *	robot
	Pointer on Robot_basic class.
ColumnVector	tau
	Controller output torque.
double	tf
	Final time used in Runge_Kutta4_Real_time.
double	tf_cont
	Final time used in Runge_Kutta4.
double	time
	Time during simulation.
double	to
	Initial simulation time.
ColumnVector	wd
	Desired end effector cartesian angular velocity.
ColumnVector	wpd
	Desired end effector cartesian angular acceleration.
Matrix	x
	Stated vector obtain in Runge Kutta functions.
Matrix	xd
	Statd vector derivative obtaint in xdot function.
Static Public Attributes
static Dynamics *	instance = 0
	Static pointer on Dynamics class.

Detailed Description

Dynamics simulation handling class.

Definition at line 60 of file dynamics_sim.h.

Constructor & Destructor Documentation

Dynamics::Dynamics ( Robot_basic * robot_ )

Constructor.

Definition at line 57 of file dynamics_sim.cpp.

virtual Dynamics::~Dynamics ( ) [inline, virtual]

Definition at line 65 of file dynamics_sim.h.

Member Function Documentation

Dynamics * Dynamics::Instance ( void ) [static]

A pointer to Dynamics instance. Pointer is 0 if there is no instance (logic done in Constructor).

Definition at line 100 of file dynamics_sim.cpp.

virtual void Dynamics::plot ( ) [inline, virtual]

Virtual plot functions.

Reimplemented in New_dynamics.

Definition at line 76 of file dynamics_sim.h.

void Dynamics::reset_time ( )

Set the simulation time to the inital time.

Definition at line 155 of file dynamics_sim.cpp.

void Dynamics::Runge_Kutta4 ( )

Runge Kutta solver.

Definition at line 356 of file dynamics_sim.cpp.

void Dynamics::Runge_Kutta4_Real_time ( )

Runge Kutta solver for real time.

Definition at line 334 of file dynamics_sim.cpp.

short Dynamics::set_controller ( const Control_Select & x )

Set the control variable from the Control_Select reference.

Definition at line 161 of file dynamics_sim.cpp.

void Dynamics::set_dof ( Robot_basic * robot_ )

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 109 of file dynamics_sim.cpp.

void Dynamics::set_final_time ( const double tf )

Set the file time.

Definition at line 149 of file dynamics_sim.cpp.

ReturnMatrix Dynamics::set_robot_on_first_point_of_splines ( )

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 190 of file dynamics_sim.cpp.

void Dynamics::set_time_frame ( const int nsteps )

Set the number of iterations.

Definition at line 143 of file dynamics_sim.cpp.

short Dynamics::set_trajectory ( const Trajectory_Select & x )

Set the path_select variable from the Trajectory_Select reference.

Definition at line 174 of file dynamics_sim.cpp.

ReturnMatrix Dynamics::xdot ( const Matrix & x )

Obtain state derivative.

Parameters: