40 static const char rcsid[] =
"$Id: demo_2dof_pd.cpp,v 1.2 2006/05/16 16:27:43 gourdeau Exp $";
51 using namespace ROBOOP;
132 dynamics.
tout, dynamics.
xout, 1, 2);
double to
Initial simulation time.
short set_plot2d(const char *title_graph, const char *x_axis_title, const char *y_axis_title, const char *label, LineType_en enLineType, const Matrix &xdata, const Matrix &ydata, int start_y, int end_y)
Matrix x
Stated vector obtain in Runge Kutta functions.
void Runge_Kutta4()
Runge Kutta solver.
Header file for trajectory generation class.
Header file for Control_Select class definitions.
int nsteps
Numbers of iterations between.
Robots class definitions.
double tf_cont
Final time used in Runge_Kutta4.
Header file for Dynamics definitions.
Trajectory class selection.
double time
Time during simulation.
New_dynamics(Robot_basic *robot_)
Constructor.
void set_time_frame(const int nsteps)
Set the number of iterations.
Virtual base robot class.
The usual rectangular matrix.
Header file for controller class definitions.
short set_trajectory(const Trajectory_Select &x)
Set the path_select variable from the Trajectory_Select reference.
virtual void plot()
Customize plot function.
Header file for graphics definitions.
GetSubMatrix SubMatrix(int fr, int lr, int fc, int lc) const
static const char rcsid[]
RCS/CVS version.
This is an example of customize Dynamics class.
Control_Select control
Instance of Control_Select class.
short set_controller(const Control_Select &x)
Set the control variable from the Control_Select reference.
Dynamics simulation handling class.