rtest.cpp File Reference

A test file. More...

#include "robot.h"
#include "quaternion.h"
#include "precisio.h"
#include <fstream>

Include dependency graph for rtest.cpp:

Go to the source code of this file.

Functions
int	main (void)
Variables
const Real	PUMA560_data_DH []
Real	PUMA560_data_mDH []
const Real	PUMA560_motor []
static const char	rcsid [] = "$Id: rtest.cpp,v 1.15 2005/07/01 17:44:53 gourdeau Exp $"
	RCS/CVS version.
const Real	STANFORD_data_DH []

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Detailed Description

A test file.

Compares results with Peter Corke MATLAB toolbox

Definition in file rtest.cpp.

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Function Documentation

int main

(

void

)

Definition at line 92 of file rtest.cpp.

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Variable Documentation

const Real PUMA560_data_DH[]

Initial value:

  {0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0, 0, 0, 
   0, 0, 0, 0.4318, 0, 0, 0, 0, 17.4, -0.3638, 0.006, 0.2275, 0.13, 0, 0, 0.524, 0, 0.539, 0, 
   0, 0, 0.15005, 0.0203, -M_PI/2.0, 0, 0, 0, 4.8, -0.0203, -0.0141, 0.07, 0.066, 0, 0, 0.086, 0, 0.0125, 0,
   0, 0, 0.4318, 0.0, M_PI/2.0, 0, 0, 0, 0.82, 0, 0.019, 0, 0.0018, 0, 0, 0.0013, 0, 0.0018, 0, 
   0, 0, 0, 0.0, -M_PI/2.0, 0, 0, 0, 0.34, 0.0, 0.0, 0.0, 0.0003, 0.0, 0.0, 0.0004, 0.0, 0.0003, 0, 
   0, 0, 0, 0, 0, 0, 0, 0, 0.09, 0.0, 0.0, 0.032, 0.00015, 0.0, 0.0, 0.00015, 0.0, 0.00004, 0}

Definition at line 61 of file rtest.cpp.

Real PUMA560_data_mDH[]

Initial value:

   
{0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.35, 0,
 0, 0, 0, 0.0, -M_PI/2, 0, 0, 0, 17.4, 0.068, 0.006, -0.016, 0.13, 0, 0, 0.524, 0, 0.539, 0,
 0, 0, -0.15005, 0.4318, 0, 0, 0, 0, 4.8, 0, -0.070, 0.014, 0.066, 0, 0, 0.0125, 0, 0.066, 0,
 0, 0, -0.4318, 0.0203, -M_PI/2.0, 0, 0, 0, 0.82, 0.0, 0.0, -0.019, 0.0018, 0, 0, 0.0018, 0, 0.0013, 0,
 0, 0, 0, 0, M_PI/2.0, 0, 0, 0, 0.34, 0, 0, 0.0, 0.0003, 0, 0, 0.0003, 0, 0.0004, 0,
 0, 0, 0, 0, -M_PI/2, 0, 0, 0, 0.09, 0, 0, 0.032, 0.00015, 0, 0, 0.00015, 0, 0.00004, 0}

Definition at line 68 of file rtest.cpp.

const Real PUMA560_motor[]

Initial value:

   {200e-6, -62.6111, 1.48e-3, 0, 
    200e-6, 107.815, .817e-3, 0,
    200e-6, -53.7063, 1.38e-3, 0,
    33e-6,  76.0364, 71.2e-6, 0,
    33e-6,  71.923,  82.6e-6, 0,
    33e-6,  76.686,  36.7e-6, 0}

Definition at line 76 of file rtest.cpp.

const char rcsid[] = "$Id: rtest.cpp,v 1.15 2005/07/01 17:44:53 gourdeau Exp $" [static]

RCS/CVS version.

Definition at line 50 of file rtest.cpp.

const Real STANFORD_data_DH[]

Initial value:

  {0.0, 0.0, 0.4120, 0.0, -M_PI/2, 0,0,0,9.29, 0.0, 0.0175, -0.1105, 0.276, 0.0, 0, 0.255, 0.0, 0.071,0,0,0,0,0,
   0.0, 0.0, 0.1540, 0.0, M_PI/2.0, 0,0,0,5.01, 0.0, -1.054, 0.0, 0.108, 0.0, 0.0, 0.018, 0.0, 0.1,0,0,0,0,0,
   1.0, -M_PI/2.0, 0.0, 0.0, 0.0, 0,0,0,4.25, 0.0, 0.0, -6.447, 2.51, 0.0, 0.0, 2.51, 0.0, 0.006,0,0,0,0,0,
   0.0, 0.0, 0.0, 0.0, -M_PI/2.0, 0,0,0,1.08, 0.0, 0.092, -0.054, 0.002, 0.0, 0.0, 0.001, 0.0, 0.001,0,0,0,0,0,
   0.0, 0.0, 0.0, 0.0,  M_PI/2.0, 0,0,0,0.63, 0.0, 0.0, 0.566, 0.003, 0.0, 0.0, 0.003, 0.0, 0.0004,0,0,0,0,0,
   0.0, 0.0, 0.2630, 0.0, 0.0, 0,0,0,0.51, 0.0, 0.0, 1.5540, 0.013, 0.0, 0.0, 0.013, 0.0, 0.0003,0,0,0,0,0}

Definition at line 84 of file rtest.cpp.