This is an example of customize Dynamics class. More...
Public Member Functions | |
New_dynamics (Robot_basic *robot_) | |
Constructor. | |
virtual void | plot () |
Customize plot function. | |
Public Attributes | |
bool | first_pass_plot |
int | i |
Robot_basic * | robot |
RowVector | tout |
Matrix | xout |
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 63 of file demo_2dof_pd.cpp.
New_dynamics::New_dynamics | ( | Robot_basic * | robot_ | ) |
Constructor.
Definition at line 80 of file demo_2dof_pd.cpp.
void New_dynamics::plot | ( | ) | [virtual] |
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 94 of file demo_2dof_pd.cpp.
First time in plot function.
Definition at line 70 of file demo_2dof_pd.cpp.
int New_dynamics::i |
Temporary index.
Definition at line 73 of file demo_2dof_pd.cpp.
RowVector New_dynamics::tout |
Output time vector.
Definition at line 71 of file demo_2dof_pd.cpp.
Matrix New_dynamics::xout |
Output state vector.
Definition at line 72 of file demo_2dof_pd.cpp.