New_dynamics Class Reference

This is an example of customize Dynamics class. More...

Inheritance diagram for New_dynamics:

List of all members.

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

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Detailed Description

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.

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Constructor & Destructor Documentation

New_dynamics::New_dynamics

(

Robot_basic *

robot_

)

Constructor.

Definition at line 80 of file demo_2dof_pd.cpp.

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Member Function Documentation

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.

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Member Data Documentation

bool New_dynamics::first_pass_plot

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.

Robot_basic* New_dynamics::robot

Robot_basic pointer.

Reimplemented from Dynamics.

Definition at line 69 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.

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The documentation for this class was generated from the following file:

• demo_2dof_pd.cpp