35 static const char header_stewart_rcsid[] =
"$Id: stewart.h,v 1.2 2006/05/16 16:11:15 gourdeau Exp $";
42 using namespace NEWMAT;
92 void set_I1aa(
const Real NewI1aa);
93 void set_I1nn (
const Real NewI1nn);
94 void set_I2aa (
const Real NewI2aa);
95 void set_I2nn (
const Real NewI2nn);
96 void set_m1 (
const Real Newm1);
97 void set_m2 (
const Real Newm2);
98 void set_Lenght1 (
const Real NewLenght1);
99 void set_Lenght2 (
const Real NewLenght2);
103 Real get_I1aa ()
const;
104 Real get_I1nn ()
const;
105 Real get_I2aa ()
const;
106 Real get_I2nn ()
const;
107 Real get_m1 ()
const;
108 Real get_m2 ()
const;
109 Real get_Lenght1()
const;
110 Real get_Lenght2 ()
const;
179 Stewart (
const std::string & filename,
const std::string & PlatformName);
183 void set_Joint(
const bool _Joint);
188 void set_pIp (
const Matrix _pIp);
189 void set_mp (
const Real _mp);
190 bool get_Joint ()
const;
196 Real get_mp ()
const;
213 const Real tolerance = 0.001);
225 #endif //Class Stewart static const char header_stewart_rcsid[]
RCS/CVS version.
ColumnVector b
Base coordinates of the link int the global frame.
Real L
Lenght of the link.
Real R
Motor armature resistance.
ColumnVector Alpha
Angular speed of the platform.
ColumnVector Omega
Angular acceleration of the platform.
ColumnVector q
Platform position (xyz + euler angles)
The usual rectangular matrix.
bool UJointAtBase
Gives the position of the universal joint (true if at base, false if at platform) ...
Matrix wRp
Rotation matrix describing the orientation of the platform.
Matrix pIp
Platform Inertia (local ref.)
const Stewart & operator=(const Stewart &x)
ColumnVector ddl
Acceleration of expension vector.
ColumnVector gravity
Gravity vector.
ColumnVector dq
Platform speed.
ColumnVector Vv
Unit Vector of the universal joint (Rotational).
ColumnVector ddq
Platform acceleration.
ColumnVector dl
Rate of expension vector.
ReturnMatrix Omega(const Quaternion &q, const Quaternion &q_dot)
Return angular velocity from a quaternion and it's time derivative.