Public Member Functions | Static Public Member Functions | Public Attributes | Static Public Attributes | List of all members
Dynamics Class Reference

Dynamics simulation handling class. More...

#include <dynamics_sim.h>

Inheritance diagram for Dynamics:
Inheritance graph
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Public Member Functions

 Dynamics (Robot_basic *robot_)
 Constructor. More...
 
virtual void plot ()
 Virtual plot functions. More...
 
void reset_time ()
 Set the simulation time to the inital time. More...
 
void Runge_Kutta4 ()
 Runge Kutta solver. More...
 
void Runge_Kutta4_Real_time ()
 Runge Kutta solver for real time. More...
 
short set_controller (const Control_Select &x)
 Set the control variable from the Control_Select reference. More...
 
void set_dof (Robot_basic *robot_)
 Set the degree of freedom. More...
 
void set_final_time (const double tf)
 Set the file time. More...
 
ReturnMatrix set_robot_on_first_point_of_splines ()
 Set the robot on first point of trajectory. More...
 
void set_time_frame (const int nsteps)
 Set the number of iterations. More...
 
short set_trajectory (const Trajectory_Select &x)
 Set the path_select variable from the Trajectory_Select reference. More...
 
ReturnMatrix xdot (const Matrix &xin)
 Obtain state derivative. More...
 
virtual ~Dynamics ()
 

Static Public Member Functions

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

Public Attributes

Control_Select control
 Instance of Control_Select class. More...
 
int dof_fix
 Degree of freedom + virtual link. More...
 
double dt
 Time frame. More...
 
bool first_pass_Kutta
 First time in all Runge_Kutta4 functions. More...
 
double h
 Runge Kutta temporary variable. More...
 
double h2
 Runge Kutta temporary variable. More...
 
Matrix k1
 Runge Kutta temporary variable. More...
 
Matrix k2
 Runge Kutta temporary variable. More...
 
Matrix k3
 Runge Kutta temporary variable. More...
 
Matrix k4
 Runge Kutta temporary variable. More...
 
int ndof
 Degree of freedom. More...
 
int nsteps
 Numbers of iterations between. More...
 
Trajectory_Select path_select
 Instance of Trajectory_Select class. More...
 
ColumnVector pd
 Desired end effector cartesian position. More...
 
ColumnVector ppd
 Desired end effector cartesian velocity. More...
 
ColumnVector pppd
 Desired end effector cartesian acceleration. More...
 
ColumnVector q
 Joints positions. More...
 
ColumnVector qd
 Desired joints positions. More...
 
ColumnVector qp
 Joints velocities. More...
 
ColumnVector qpd
 Desired joints velocities. More...
 
ColumnVector qpp
 Joints accelerations. More...
 
ColumnVector qppd
 Desired joints accelerations. More...
 
Quaternion quatd
 Desired orientation express by a quaternion. More...
 
Robot_basicrobot
 Pointer on Robot_basic class. More...
 
ColumnVector tau
 Controller output torque. More...
 
double tf
 Final time used in Runge_Kutta4_Real_time. More...
 
double tf_cont
 Final time used in Runge_Kutta4. More...
 
double time
 Time during simulation. More...
 
double to
 Initial simulation time. More...
 
ColumnVector wd
 Desired end effector cartesian angular velocity. More...
 
ColumnVector wpd
 Desired end effector cartesian angular acceleration. More...
 
Matrix x
 Stated vector obtain in Runge Kutta functions. More...
 
Matrix xd
 Statd vector derivative obtaint in xdot function. More...
 

Static Public Attributes

static Dynamicsinstance = 0
 Static pointer on Dynamics class. More...
 

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 ( )
inlinevirtual

Definition at line 65 of file dynamics_sim.h.

Member Function Documentation

Dynamics * Dynamics::Instance ( )
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 ( )
inlinevirtual

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
xstate vector (joint speed and joint velocity).

The controller torque is applied if any controller has been selected, then the joint acceleration is obtained.

Definition at line 252 of file dynamics_sim.cpp.

Member Data Documentation

Control_Select Dynamics::control

Instance of Control_Select class.

Definition at line 111 of file dynamics_sim.h.

int Dynamics::dof_fix

Degree of freedom + virtual link.

Definition at line 82 of file dynamics_sim.h.

double Dynamics::dt

Time frame.

Definition at line 85 of file dynamics_sim.h.

bool Dynamics::first_pass_Kutta

First time in all Runge_Kutta4 functions.

Definition at line 81 of file dynamics_sim.h.

double Dynamics::h

Runge Kutta temporary variable.

Definition at line 85 of file dynamics_sim.h.

double Dynamics::h2

Runge Kutta temporary variable.

Definition at line 85 of file dynamics_sim.h.

Dynamics * Dynamics::instance = 0
static

Static pointer on Dynamics class.

Definition at line 115 of file dynamics_sim.h.

Matrix Dynamics::k1

Runge Kutta temporary variable.

Definition at line 92 of file dynamics_sim.h.

Matrix Dynamics::k2

Runge Kutta temporary variable.

Definition at line 92 of file dynamics_sim.h.

Matrix Dynamics::k3

Runge Kutta temporary variable.

Definition at line 92 of file dynamics_sim.h.

Matrix Dynamics::k4

Runge Kutta temporary variable.

Definition at line 92 of file dynamics_sim.h.

int Dynamics::ndof

Degree of freedom.

Definition at line 82 of file dynamics_sim.h.

int Dynamics::nsteps

Numbers of iterations between.

Definition at line 82 of file dynamics_sim.h.

Trajectory_Select Dynamics::path_select

Instance of Trajectory_Select class.

Definition at line 112 of file dynamics_sim.h.

ColumnVector Dynamics::pd

Desired end effector cartesian position.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::ppd

Desired end effector cartesian velocity.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::pppd

Desired end effector cartesian acceleration.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::q

Joints positions.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::qd

Desired joints positions.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::qp

Joints velocities.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::qpd

Desired joints velocities.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::qpp

Joints accelerations.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::qppd

Desired joints accelerations.

Definition at line 98 of file dynamics_sim.h.

Quaternion Dynamics::quatd

Desired orientation express by a quaternion.

Definition at line 110 of file dynamics_sim.h.

Robot_basic* Dynamics::robot

Pointer on Robot_basic class.

Definition at line 113 of file dynamics_sim.h.

ColumnVector Dynamics::tau

Controller output torque.

Definition at line 98 of file dynamics_sim.h.

double Dynamics::tf

Final time used in Runge_Kutta4_Real_time.

Definition at line 85 of file dynamics_sim.h.

double Dynamics::tf_cont

Final time used in Runge_Kutta4.

Definition at line 85 of file dynamics_sim.h.

double Dynamics::time

Time during simulation.

Definition at line 85 of file dynamics_sim.h.

double Dynamics::to

Initial simulation time.

Definition at line 85 of file dynamics_sim.h.

ColumnVector Dynamics::wd

Desired end effector cartesian angular velocity.

Definition at line 98 of file dynamics_sim.h.

ColumnVector Dynamics::wpd

Desired end effector cartesian angular acceleration.

Definition at line 98 of file dynamics_sim.h.

Matrix Dynamics::x

Stated vector obtain in Runge Kutta functions.

Definition at line 92 of file dynamics_sim.h.

Matrix Dynamics::xd

Statd vector derivative obtaint in xdot function.

Definition at line 92 of file dynamics_sim.h.


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


kni
Author(s): Martin Günther
autogenerated on Fri Jan 3 2020 04:01:17